iros_mobile_platform Mobile Platform

This repository integrates hardware, frontend, and backend modules for the iros_mobile_platform Mobile Platform. The backend module consists of the following components:

1. Controller: Includes the high-level controller and various infrastructure packages such as the log collector and mode switcher.
2. SLAM: Provides Simultaneous Localization and Mapping functionalities.
3. Path Planner: Responsible for determining the optimal path.

Installation & launch

Docker

One-liner, simulator

docker compose up --build simulator

Development, simulator

If you want to play around, you could launch the terminal:

docker compose up --build terminal

You can attach to the docker from other terminals, by running:

docker compose exec terminal bash

Inside there, you have to build the project manually:

source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash
ros2 launch iros_mobile_platform sim.launch.py

SLAM, simulator

To start mapping, set launch argument run_mapping for sim.launch.py to True:

ros2 launch iros_mobile_platform sim.launch.py run_mapping:=True

To save the map, enter the following command in the new terminal:

source /opt/ros/humble/setup.bash
ros2 run nav2_map_server map_saver_cli -f <new_map_name>

NOTE: The save path can be specified as <path_to_map>/<new_map_name> or run the command in the desired directory

To use a specific map for SLAM in simulator, provide map file to the launch argument map_file for sim.launch.py:

ros2 launch iros_mobile_platform sim.launch.py map_file:=<map_file>

NOTE: The map file is expected in the directory /iros_mobile_platform/maps

Launching hardware

TBD

Local installation

Dependencies

The project software is developed using the ROS2 Humble middleware and relies on the following external dependencies:

1. Slam Toolbox
2. Nav2

Additionally, the following ROS2 package is used for hardware components:

3. Sllidar

They could be installed at:

RUN apt-get install -y ros-humble-slam-toolbox ros-humble-navigation2 ros-humble-nav2-bringup 

Launching simulator

source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash
ros2 launch iros_mobile_platform sim.launch.py

Launching hardware

TBD