-
Installing ROS 2 Dependency
$ sudo apt install ros-foxy-ros-base python3-argcomplete $ sudo apt install ros-dev-tools -
Installation of xacro and joint state publisher
$ sudo apt install ros-foxy-xacro ros-foxy-joint-state-publisher-gui -
Installing Teleop Twist Keyboard
$ sudo apt-get install ros-foxy-teleop-twist-keyboard -
Installing ROS2 Control
$ sudo apt install ros-foxy-ros2-control ros-foxy-ros2-controllers ros-foxy-gazebo-ros2-control
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Install the Lidar Dependencies for Foxy
$ sudo apt update $ sudo apt install ros-foxy-rplidar-ros -
Permission for the Lidar
$ sudo ls /dev/ttyUSB* $ sudo chmod 777 /dev/ttyUSB0 -
To get Data of Lidar on Rviz
$ ros2 run rplidar_ros rplidar_composition --ros-args -p serial_port:=/dev/ttyUSB0 -p frame_id:=laser_link -p angle_compensate:=true -p scan_mode:=Standard -
For RPLIDAR Services Call
-
To Stop the Lidar Motor;
$ ros2 service call /stop_motor std_srvs/Empty {} -
To Start the Lidar Motor;
$ ros2 service call /start_motor std_srvs/Empty {}
-
-
Created Launch File for RPLidar
$ ros2 launch my_bot rplidar.launch.py
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Installation of
slam_toolbox$ sudo apt install ros-foxy-slam-toolbox -
To Launch the Slam Toolbox async file
$ ros2 launch slam_toolbox online_async_launch.py params_file:= <path for mapper_params_online_async.yaml file> use_sim_time:=true -
Installation of
Nav2 Stack$ sudo apt install ros-foxy-navigation2 ros-foxy-nav2-bringup ros-foxy-turtlebot3* -
Launching Nav2 bringup
$ ros2 launch nav2_bringup navigation_launch.py
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