AMR Remote Control Toolkit

By using this package, you can achieve below functions by sending topic for your 2D AMR:

• launch slam algorithm
• save map
• load map files and launch amcl

It is encouraged to use legubiao/ros2d-quasar as well.

中文说明

1. Installation

• clone the repository

  cd ~/ros2_ws/src
  git clone https://github.com/legubiao/amr_rctk

• rosdep

  cd ~/ros2_ws
  rosdep install --from-paths src --ignore-src -r -y

• python node

  chmod +x scripts/mapping_node.py

• build

  cd ~/ros2_ws
  colcon build --packages-up-to amr_rctk  --symlink-install

2. Simulations

2.1 Turtlebot3 Webots Simulation

Tested on Ubuntu 22.04 ROS2 Humble.

Warning: Webots still under development for ROS2 Jazzy, can not run properly (2024.11.18)

• Install Webots, just download the stable release .deb then install.
• Install Webots-ros2

  sudo apt-get install ros-humble-webots-ros2

• Test the turtlebot3 simulation

  ros2 launch webots_ros2_turtlebot robot_launch.py

• Launch the amr_rctk

source ~/ros2_ws/install/setup.bash
ros2 launch amr_rctk turtlebot.launch.py