![]() ![]() ℹ️About GitHub Wiki SEE, a search engine enabler for GitHub WikisĪs GitHub blocks most GitHub Wikis from search engines. ![]() If you encounter random failures of Nav2 on Humble, you can try to troubleshoot this issue by changing the DDS and setting RMW_IMPLEMENTATION before building the workspace: sudo apt install ros-humble-rmw-cyclonedds-cppĮxport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ![]() There is a known issue that Nav2 may not work correctly and fail randomly on Humble. To start the tiago_bringup launch file with all controllers and topics for the TIAGo robot in addition to the Webots simulation, you can use the following launch file: ros2 launch webots_ros2_tiago robot_bringup_launch.py rviz:=true TIAGo Bringup (only for version 2023.0.4 and higher) The robot will plan a trajectory and move to the pose you defined inside Webots and RViz. Once every node is started, you can choose a goal position and orientation with the Navigation2 Goal button in RViz. The initial position is therefore (x=0.0, y=0.0, yaw=0.0) and is provided to the navigation package in the configuration file nav2_params.yaml. The map file is provided to the launcher file and is centered and rotated to match the robot's initial position. This will run RViz and the Navigation 2 package in addition to the Webots simulation. Run the launch file of the TIAGo with the following options: ros2 launch webots_ros2_tiago robot_launch.py rviz:=true nav:=true Note that the Cartographer configuration file is located in webots_ros2_tiago/resource/a from the package folder. You are now able to move the robot in the scene while the map is drawn RViz. In the second terminal launch teleop_twist_keyboard with: ros2 run teleop_twist_keyboard teleop_twist_keyboard Ros2 launch webots_ros2_tiago robot_launch.py rviz:=true slam_cartographer:=true Ros2 launch webots_ros2_tiago robot_launch.py rviz:=true slam_toolbox:=true Run the launch file of the TIAGo with the following options: # For SLAM-Toolbox as SLAM package Run the launch file of the TIAGo with the following options: ros2 launch webots_ros2_tiago robot_launch.py rviz:=true slam:=true sudo apt install ros-$(ROS_DISTRO)-tiago-bringup Practical use case:Developer wants a Turlebot to go from point A to point B in Webots simulation using SLAM.Developer has just changed a few things in the current robot setup, for instance:- an outlier removal. You can install it with sudo apt install ros-$(ROS_DISTRO)-nav2-bringupįor the SLAM part, you will need Slam Toolbox for version 2023.0.2 and earlier: sudo apt install ros-$(ROS_DISTRO)-slam-toolboxĬartographer is also available for versions 2023.0.3 and later: sudo apt install ros-$(ROS_DISTRO)-cartographer-rosįor the full TIAGo configuration (topics and controllers), you will need tiago_bringup. Webots provides easy-to-use tools to create your own worlds/robots, and deepbots interfaces Webots with any gym-compatible RL agent. To run this example, you will need the Navigation 2 package. Those examples are slightly different from the ones of the TurtleBot3 Burger as TIAGo runs the SLAM and the navigation directly from its launcher file. One example does SLAM and the other provides a navigation tool. TIAGo robot combines perception, navigation, manipulation & Human-Robot Interaction skills out of the box! ![]()
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