Jazzy

CMakeLists.txt

@@ -39,6 +39,7 @@ install(
     launch  
     worlds
     meshes 
+    map
   DESTINATION share/${PROJECT_NAME}
 )
 

README.md

@@ -1,8 +1,8 @@
 # Raspberry Pi Setup Guide
 
 ## Requirements
-- OS: Ubuntu 22.04 Jammy
-- Ros2 Humble
+- OS: Ubuntu 24.04 Jammy
+- Ros2 jazzy
 
 ## Build your Workspace for devloper pc
 
@@ -44,7 +44,7 @@ colcon build --symlink-install
 ##### Source it
 ```bash
 cd ~/dev_ws
-source /opt/ros/humble/setup.bash
+source /opt/ros/jazzy/setup.bash
 source install/setup.bash
 ```
 
@@ -55,12 +55,17 @@ ros2 launch articubot_one launch_sim.launch.py
 
 ##### ROS Gazebo run with My World
 ```bash
-ros2 launch articubot_one launch_sim.launch.py world:=src/articubot_one/worlds/world.world 
+ros2 launch articubot_one launch_sim.launch.py use_sim_time:=true
+```
+##### Launch rviz for noraml
+```bash
+rviz2 -d src/articubot_one/config/map.rviz
 ```
 
-##### Launch rviz
+
+##### Launch rviz for navigation
 ```bash
-rviz2 -d src/articubot_one/config/main.rviz
+rviz2 -d src/articubot_one/config/nav.rviz
 ```
 
 ##### Control the Robot
@@ -78,12 +83,28 @@ ros2 run rqt_image_view rqt_image_view
 ros2 launch articubot_one rplidar.launch.py
 ```
 
+##### for slam
+```bash
+ros2 launch articubot_two online_async_launch.py slam_params_file:=src/articubot_two/config/mapper_params_online_async.yaml
+```
+
+##### for localization
+```bash
+ros2 launch articubot_two localization_launch.py map:=src/articubot_two/map/map_save.yaml params_file:=src/articubot_two/config/nav2_params.yaml use_sim_time:=true
+```
+
+##### for navigation
+```bash
+ros2 launch articubot_two navigation_launch.py params_file:=src/articubot_two/config/nav2_params.yaml use_sim_time:=true
+```
+
+
 ## Run the Real Robot
 
 ##### Source it
 ```bash
 cd ~/robot_ws
-source /opt/ros/humble/setup.bash
+source /opt/ros/jazzy/setup.bash
 source install/setup.bash
 ```
 

config/gz_bridge.yaml

@@ -0,0 +1,55 @@
+- ros_topic_name: "clock"
+  gz_topic_name: "clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+
+# gz topic published by Sensors plugin
+- ros_topic_name: "scan"
+  gz_topic_name: "scan"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  direction: GZ_TO_ROS
+
+# gz topic published by Sensors plugin (Camera)
+- ros_topic_name: "camera/camera_info"
+  gz_topic_name: "camera/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS
+
+# gz topic published by Sensors plugin (imu)
+- ros_topic_name: "imu/data"
+  gz_topic_name: "imu/data"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  direction: GZ_TO_ROS
+
+
+# gz topic published by DiffDrive plugin
+- ros_topic_name: "odom"
+  gz_topic_name: "odom"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
+
+# gz topic published by DiffDrive plugin
+- ros_topic_name: "tf"
+  gz_topic_name: "tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+# gz topic subscribed to by DiffDrive plugin
+- ros_topic_name: "diff_cont/cmd_vel_unstamped"
+  gz_topic_name: "cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ
+
+# gz topic published by JointState plugin
+- ros_topic_name: "joint_states"
+  gz_topic_name: "joint_states"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS

config/joystick.yaml

@@ -0,0 +1,27 @@
+joy_node:
+  ros__parameters:
+    device_id: 0
+    deadzone: 0.05
+    autorepeat_rate: 20.0
+
+teleop_node:
+  ros__parameters:
+    axis_linear:
+      x: 1
+    scale_linear:
+      x: 0.5
+    scale_linear_turbo:
+      x: 1.0
+
+    axis_angular:
+      yaw: 0
+    scale_angular:
+      yaw: 0.5
+    scale_angular_turbo:
+      yaw: 1.0
+
+
+    enable_button: 6
+    enable_turbo_button: 7
+
+    require_enable_button: true

config/main.rviz

@@ -3,9 +3,10 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
+      Expanded:
+        - /Global Options1
       Splitter Ratio: 0.5
-    Tree Height: 478
+    Tree Height: 468
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -47,11 +48,15 @@ Visualization Manager:
       Value: true
     - Class: rviz_default_plugins/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: true
         back_caster_wheel_one:
           Value: true
+        base_footprint:
+          Value: true
         base_link:
           Value: true
         camera_link:
@@ -78,6 +83,8 @@ Visualization Manager:
       Tree:
         odom:
           base_link:
+            base_footprint:
+              {}
             chassis:
               back_caster_wheel_one:
                 {}
@@ -86,8 +93,8 @@ Visualization Manager:
                   {}
               front_caster_wheel_one:
                 {}
-            laser_frame:
-              {}
+              laser_frame:
+                {}
             left_wheel:
               {}
             right_wheel:
@@ -117,6 +124,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         base_link:
           Alpha: 1
           Show Axes: false
@@ -263,7 +274,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 5.644542694091797
+      Distance: 13.372947692871094
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -281,17 +292,17 @@ Visualization Manager:
       Pitch: 1.5697963237762451
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.1236116886138916
+      Yaw: 3.0736117362976074
     Saved: ~
 Window Geometry:
   Camera:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 1016
+  Height: 1011
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001900000035afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000269000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002ac000000eb0000002800ffffff000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000048f0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000019000000351fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000262000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002a7000000e90000001700ffffff000000010000010f00000351fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f00000351000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a0000026f00fffffffb0000000800540069006d006501000000000000045000000000000000000000048f0000035100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -302,4 +313,4 @@ Window Geometry:
     collapsed: false
   Width: 1850
   X: 70
-  Y: 27
+  Y: 32