ROAR ROS2 Parent Repository

Table of Contents

1. About The Package
2. Getting Started
   • Prerequisites
   • Installation
3. Usage
4. Contact

About The Package

This is a repository that contains all the packages for roar ros2 as seperate submodules.

Getting Started

To get a local copy up and running follow these simple steps.

A. Prerequisites

It is assumed that your system(s) is running Ubuntu 20.04 and has a working installation of ROS2 (Foxy). This repo has not been tested on other Operating Systems.

Please follow instructions on how to install ROS Foxy

B. Installation

1. Clone the repository and its dependencies.

   git clone --recurse-submodules https://github.com/amansrf/roar_ros.git

2. Install required ROS packages from inside the roar_ros folder.

   cd roar_ros
   sudo apt-get update
   sudo rosdep init
   rosdep update
   rosdep install -i --from-path src --rosdistro foxy -y

3. Build all the packages and source the workspace

   colcon build --symlink-install
   source <path_to_roar_ros>/install/setup.bash

Usage

1. Launch the iphone app and calibrate it with world centre.
2. Change the ip address of the iphone in the config.py file located at: roar_ros/src/ros_roar_streamer/ros_roar_streamer/config.py
3. Run the ros_roar_streamer state_streamer node:

   ros2 run ros_roar_streamer state_streamer

4. Run the transforms package in a new terminal:

   source <path_to_roar_ros>/install/setup.bash
   ros2 launch roar_transforms roar_tf.launch.py

5. Run the roar_bot_description package in a new terminal:

   source <path_to_roar_ros>/install/setup.bash
   ros2 launch roar_bot_description display.launch.py

Contact

If you have any issues or find any bugs please feel free to contact:

Aman Saraf - [email protected], [email protected]