This is a collection of useful commands and launch files for operating the robot.
Robot Launch files
| Command | Is starting |
|---|---|
ros2 launch edu_drive_ros2 edu_drive_minibot.launch.py | edu_drive_ros2 |
ros2 launch minibot_config tmini_launch.py | The two Lidar publisher nodes |
ros2 launch minibot_scan_fusion minibot_scan_fusion.launch.py | 2 to 1 Lidar Combination Node |
ros2 launch edu_drive_ros2 minibot.launch.py | edu_drive_ros2, Lidar Nodes, Lidar Combination Node, SLAM Toolbox |
ros2 launch minibot_config navigation_launch.py | Nav2 Nodes |
Manual Control
| Command | Is starting |
|---|---|
ros2 launch minibot_xbox_joy controller.launch.py | Xbox Controller Node* |
ros2 run joy joy_node --ros-args -p autorepeat_rate:=25.0 --remap joy:=edu_sml/joy | Joystick control node |
ros2 run joy_linux joy_linux_node --ros-args -p autorepeat_rate:=25.0 --remap joy:=edu_sml/joy | Linux Joystick control node |
* This has to be set first:
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
Mapping
| Command | Use |
|---|---|
ros2 run nav2_map_server map_saver_cli -f mapname | saving a map |
ros2 launch nav2_bringup bringup_launch.py map:=/path/to/map.yaml | loading a map |