DBot-m2m-launcher

M2M AGV student project ros launcher repo

Development environment setup

Ros1 noetic ubuntu

install Ubuntu 20.04
https://www.releases.ubuntu.com/20.04/¸
and ros1 noetic
https://wiki.ros.org/noetic

ros1 noetic docker

Install docker
https://www.docker.com/
Start docker container with ubuntu 20.04 and ros1 noetic desktop edition.

Using container
Run following command in folder which contains packages project uses.

docker run -v $(pwd):/catkin_ws/src -it -p8080:8080 osrf/ros:noetic-desktop-full  

Sourcing and Starting roscore

source /opt/ros/noetic/setup.bash  
cd /catkin_ws/src  
catkin_init_workspace  
cd /catkin_ws  
catkin_make  
roscore  

Opening new shells inside container

docker exec -it mycontainer bash  

install pcan (linux) drivers https://python-can.readthedocs.io/en/master/installation.html

in new terminal

source /catkin_ws/devel/setup.bash
for example lauching task manager
roslaunch d-bot-m2m-task-executor task_manager.launch

Project ros packages

1. https://github.com/autonomymobilitylab/d-bot-m2m-obstacle-detection
2. https://github.com/autonomymobilitylab/d-bot-m2m-communication
3. https://github.com/autonomymobilitylab/d-bot-m2m-navigation
4. https://github.com/autonomymobilitylab/d-bot-m2m-task-executor
5. https://github.com/autonomymobilitylab/d-bot-m2m-state-estimation

Installation

TODO

Mapping

https://github.com/SMRT-AIST/fast_gicp
https://github.com/koide3/hdl_global_localization
https://github.com/koide3/hdl_graph_slam
https://github.com/koide3/hdl_localization
https://github.com/koide3/ndt_omp
https://github.com/ros-drivers/velodyne

install dependecies

pip3 install -r requirements.txt

Starting dbot ros

run below commands id you want to add logging to dbot

# Linux
docker compose up
# windows
docker-compose up

This will start postgres database in docker and runs flyway database migrations to create logging table.

TODO

development start commands

for example lauching task maanger roslaunch d-bot-m2m-task-executor task_manager.launch roslaunch d-bot-m2m-movement movement.launch

ROS and custom Packages

Visualizations contain starting ros package architecture.