IGVC ROS 2 workspace (Humble)

ROS 2 Humble workspace for IGVC: igvc_robot (TurtleBot3 / localization), RPLidar (sllidar_ros2), and u-blox GPS (ublox).

Prerequisites

• Ubuntu 22.04 (or another OS with ROS 2 Humble installed the same way as on Ubuntu).
• ROS 2 Humble: Install.
• Build tools:

sudo apt update
sudo apt install -y python3-colcon-common-extensions python3-rosdep git

• Robot-specific packages (adjust if you omit hardware):

sudo apt install -y ros-humble-turtlebot3 ros-humble-robot-localization

Set the TurtleBot model once per shell (or add to ~/.bashrc):

export TURTLEBOT3_MODEL=burger

Clone and build

git clone https://github.com/csucaimeigvc/igvc-ros2-ws.git igvc_ros2_ws
cd igvc_ros2_ws

If you use SSH and have keys set up with GitHub:

git clone git@github.com:csucaimeigvc/igvc-ros2-ws.git igvc_ros2_ws
cd igvc_ros2_ws

Then install dependencies and build:

# One-time: register rosdep rules
sudo rosdep init   # skip if you already ran this on the machine
rosdep update

# Install declared dependencies from all packages under src/
rosdep install --from-paths src --ignore-src -r -y

source /opt/ros/humble/setup.bash
colcon build --symlink-install
source install/setup.bash

Use every new terminal:

cd igvc_ros2_ws
source /opt/ros/humble/setup.bash
source install/setup.bash

Quick checks

ros2 pkg list | grep -E 'igvc_robot|sllidar|ublox'

Launch examples

# TurtleBot3 base (set OpenCR serial port for your machine)
ros2 launch igvc_robot turtlebot3_base.launch.py opencr_port:=/dev/ttyACM0

# Base + EKF / localization stack
ros2 launch igvc_robot turtlebot3_localization.launch.py opencr_port:=/dev/ttyACM0

More context: docs/TURTLEBOT3_OPENCR_SETUP_CHAT_SUMMARY.md.

After laptop motor setup, flash on Jetson and plan Nav2 integration: docs/JETSON_HANDOFF_AND_NAV2.md.

Repository layout

Path	Role
src/igvc_robot	Launches, params, TurtleBot3 + localization integration
src/sllidar_ros2	Slamtec RPLidar ROS 2 driver
src/ublox	u-blox GPS driver stack
ping_pong	Optional Arduino encoder sketch (legacy bridge path)

Troubleshooting

COLCON_TRACE, AMENT_TRACE_SETUP_FILES, or other “unbound variable” when sourcing ROS: Your shell has set -u (nounset). ROS 2 and colcon setup scripts assume many optional variables may be unset.

Use the workspace helper (recommended):

source ~/ros2_ws/scripts/setup_ros_env.bash

Or disable nounset only for sourcing:

set +u
source /opt/ros/humble/setup.bash
source install/setup.bash
set -u

License

Per-package licenses are in each package’s package.xml / upstream files (e.g. BSD for sllidar_ros2, MIT for igvc_robot).