panther_ros

ROS 2 packages for Panther autonomous mobile robot

Quick start

Create workspace

mkdir ~/husarion_ws
cd ~/husarion_ws
git clone -b ros2 https://github.com/husarion/panther_ros.git src/panther_ros

Configure environment

The repository is used to run the code both on the real robot and in the simulation. Specify HUSARION_ROS_BUILD_TYPE the variable according to your needs.

Real robot:

export HUSARION_ROS_BUILD_TYPE=hardware

Simulation:

export HUSARION_ROS_BUILD_TYPE=simulation

Build

vcs import src < src/panther_ros/panther/panther_$HUSARION_ROS_BUILD_TYPE.repos

cp -r src/ros2_controllers/diff_drive_controller src
cp -r src/ros2_controllers/imu_sensor_broadcaster src
rm -rf src/ros2_controllers

sudo rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install --from-paths src -y -i

source /opt/ros/$ROS_DISTRO/setup.bash
colcon build --symlink-install --packages-up-to panther --cmake-args -DCMAKE_BUILD_TYPE=Release

source install/setup.bash

Note

To build code on a real robot you need to run above commands on the Panther Built-in Computer.

Running

Real robot:

ros2 launch panther_bringup bringup.launch.py

Simulation:

ros2 launch panther_gazebo simulation.launch.py

Developer Info

Setup pre-commit

This project uses pre-commit to maintain high quality of the source code. Install precommit after downloading the repository to apply the changes.

pre-commit install