From aebb6d702466e2f4b5534e7283fd08d7843da1c1 Mon Sep 17 00:00:00 2001 From: kugurofu <145640129+kugurofu@users.noreply.github.com> Date: Mon, 11 May 2026 16:39:56 +0900 Subject: [PATCH 1/2] Update README with simulation and real robot sections --- README.md | 56 +++++++++++++++++++++++++++++++++++++++++++++++++------ 1 file changed, 50 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 389b1f3..34ec647 100644 --- a/README.md +++ b/README.md @@ -11,7 +11,9 @@ $ wstool merge orange_ros2/orange_ros2.rosinstall $ wstool update $ rosdep install -r -y -i --from-paths . ``` -## Launch Gazebo world + +## Simulation +### Launch Gazebo world The following 4 gazebo worlds can be run. | empty_world | orange_world | orange_igvc | orange_hosei | | ------------- | ------------- | ------------- | ------------- | @@ -20,7 +22,7 @@ The following 4 gazebo worlds can be run. ``` $ ros2 launch orange_gazebo {GAZEBO_WORLD_NAME}.launch.xml ``` -## Operate orange robot +### Operate orange robot Orange robot can be controlled via keyboard or gamepad. @@ -35,13 +37,13 @@ $ ros2 launch orange_teleop teleop_keyboard.launch.xml ``` $ ros2 launch orange_teleop teleop_joy.launch.xml ``` -## RViz2 visualization +### RViz2 visualization ``` $ ros2 launch orange_bringup rviz2.launch.xml ``` -## SLAM +### SLAM on Simulation The following SLAM methods can be run. | slam_toolbox | cartographer | | ------------- | ------------- | @@ -65,7 +67,7 @@ $ ros2 launch orange_bringup with_ros2bag.launch.xml $ ros2 bag play your_bag -r 3 --clock $ ros2 launch orange_slam {SLAM_METHOD_NAME}.launch.xml with_ros2bag:=true ``` -## Navigation2 +### Navigation2 on Simulation You can try Navigation2 with a map created by slam_toolbox or cartographer. **Gazebo simulation** @@ -79,16 +81,58 @@ You can try Navigation2 with a map created by slam_toolbox or cartographer. $ ros2 launch orange_gazebo orange_hosei.launch.xml $ ros2 launch orange_navigation waypoint_navigation.launch.xml use_sim_time:=true ``` -## Sample dataset + +### Sample dataset You can download the ros2 bag obtained from orange_hosei. ``` $ wget --load-cookies /tmp/cookies.txt "https://drive.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://drive.google.com/uc?export=download&id=1T3eFLUSbdlLayyaVRCAf1Hfi8K1FMR4K' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1T3eFLUSbdlLayyaVRCAf1Hfi8K1FMR4K" -O ros2bag_orange_hosei.zip && rm -rf /tmp/cookies.txt ``` +## Real Robot +### Bringup +``` +$ ros2 launch orange_bringup orange_robot.launch.xml +$ ros2 launch orange_bringup data_processing.launch.xml +``` +This launch file includes sensors
+・motor driver (ZLAC8015D)
+・estop
+・imu (icm20948)
+・GNSS (ZED-F9P)
+・LiDAR (MID360)
+ +This launch file aquire packages
+・livox_ros_driver2
+・livox_to_pointcloud2
+### SLAM on Real Robot +**Real Robot without creating waypoints** +``` +$ ros2 launch orange_bringup orange_robot.launch.xml +$ ros2 launch orange_bringup data_processing.launch.xml +$ ros2 launch orange_slam {SLAM_METHOD_NAME}.launch.xml +$ ros2 launch orange_teleop teleop_joy.launch.xml +``` +**Real Robot with creating waypoints** +``` +$ ros2 launch orange_bringup orange_robot.launch.xml +$ ros2 launch orange_bringup data_processing.launch.xml +$ ros2 launch orange_slam waypoint_slam.launch.xml slam_method:={SLAM_METHOD_NAME} +$ ros2 launch orange_teleop teleop_joy.launch.xml +``` + +### Navigation2 on Real Robot +**Waypoint Navigation** +``` +$ ros2 launch orange_bringup orange_robot.launch.xml +$ ros2 launch orange_bringup data_processing.launch.xml +$ ros2 launch orange_navigation waypoint_navigation.launch.xml +``` ## Reference - slam_toolbox : https://github.com/SteveMacenski/slam_toolbox - cartographer : https://github.com/cartographer-project/cartographer_ros - Navigation2 : https://github.com/ros-planning/navigation2 +- livox_ros_driver2 : https://github.com/Ericsii/livox_ros_driver2 +- livox_to_pointcloud2 : https://github.com/porizou/livox_to_pointcloud2 From d7ea52c9f7dd145352454d12b2c50dffb04d88ed Mon Sep 17 00:00:00 2001 From: kugurofu <145640129+kugurofu@users.noreply.github.com> Date: Mon, 11 May 2026 16:42:40 +0900 Subject: [PATCH 2/2] Clarify launch file and package descriptions in README Updated descriptions of launch files and packages. --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 34ec647..706fbf7 100644 --- a/README.md +++ b/README.md @@ -95,14 +95,14 @@ $ wget --load-cookies /tmp/cookies.txt "https://drive.google.com/uc?export=downl $ ros2 launch orange_bringup orange_robot.launch.xml $ ros2 launch orange_bringup data_processing.launch.xml ``` -This launch file includes sensors
+These launch files include the following hardware drivers and sensor nodes:
・motor driver (ZLAC8015D)
・estop
・imu (icm20948)
・GNSS (ZED-F9P)
・LiDAR (MID360)
-This launch file aquire packages
+The following packages are also used:
・livox_ros_driver2
・livox_to_pointcloud2