Omron Base package

To view the original Readme.md click here

This package is a restructuring of OmronAPAC/Omron_AMR_ROS2

View New Developer's Guide. View Old Developer's Guide.

Setup

Create a workspace

mkdir -p omron_ws/src
cd omron_ws/src

Install dependencies

sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-slam-toolbox ros-humble-teleop-twist-joy ros-humble-joy

Clone the repositories into the src folder by

git clone https://github.com/CollaborativeRoboticsLab/omron_base.git

Build by

cd ..
colcon build

Usage

Initialization

1. Establish Remote connection to AMR Robot

2. Configure AMR robot via Mobile Planner

Connect with the robot base

Run the following command to connect to the robot.

source install/setup.bash
ros2 launch amr_ros amr_core.launch.py

Start visualization

Run the following command to visualize robot. Swap ld250 with ld90 or amr_platform for other robot models.

source install/setup.bash
ros2 launch amr_ros ld250_rviz.launch.py

Start Teleoperation

source install/setup.bash
ros2 launch amr_teleop amr_joyop.launch.py

To Do List

• Replace AMR_Core with a cpp package with support for standard ros2 interface (/cmd_vel, /tf and /odom)
• Extend the interface with standard ros2 messages for battery and other optional data
• Add support for NAV2
• Create cascadeing launch files for AMR core and RVIz