marathon_ros2

Working components for the experiment

• [x] Tiago drivers in ROS
• [x] ros1_bridge
• [x] cmd_vel_mux and tf_static_resender to correctly bridge all the required topics and tf ROS <-> ROS2
• [x] Navigation2
• [x] STVL
• [x] TEB
• [x] Adjust/optimize speeds and other parameters for Tiago
• [x] Tool to monitorize experiment (distance and time)
• [x] ROSbag configuration
• [x] Launcher to launch experiment complete

Instructions to reproduce this experiment

1. Create a new workspace with the ROS2 sources. Follow this instructions of the ROS2 wiki. Before compile the workspace, change the ros1_bridge for this version.

   • Is important to compile this workspace, compile first without the ros1_bridge:

     colcon build --symlink-install --packages-skip ros1_bridge

   • If the compilation conclude and everything is OK do:

     source /opt/ros/melodic/setup.bash
     colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure

2. Create other workspace with the marathon_ros2 and the dependencies.

   vcs import src < marathon.repos

3. When the two workspaces are compiled you can start with the marathon...

4. Open 6 differents terminals and run:

   # Terminal 1
   source ~/ros2_sources_ws/install/setup.bash
   source /opt/ros/melodic/setup.bash
   ros2 run ros1_bridge tf_static_1_to_2

   # Terminal 2
   source ~/ros2_sources_ws/install/setup.bash
   source /opt/ros/melodic/setup.bash
   ros2 run ros1_bridge imu_1_to_2

   # Terminal 3
   source ~/ros2_sources_ws/install/setup.bash
   source /opt/ros/melodic/setup.bash
   ros2 run ros1_bridge scan_1_to_2

   # Terminal 4
   source ~/ros2_sources_ws/install/setup.bash
   source /opt/ros/melodic/setup.bash
   ros2 run ros1_bridge tf_1_to_2

   # Terminal 5
   source ~/ros2_sources_ws/install/setup.bash
   source /opt/ros/melodic/setup.bash
   ros2 run ros1_bridge pc2_1_to_2 

   # Terminal 6
   source ~/ros2_sources_ws/install/setup.bash
   source /opt/ros/melodic/setup.bash
   ros2 run ros1_bridge twist_2_to_1

5. Open two more terminals and run:

   # Terminal 7
   source ~/ros2_sources_ws/install/setup.bash
   source ~/ros2_ws/install/setup.bash
   ros2 launch marathon_ros2_bringup nav2_tiago_launch.py

   # Terminal 8
   source ~/ros2_sources_ws/install/setup.bash
   source ~/ros2_ws/install/setup.bash
   ros2 topic pub /start_navigate std_msgs/msg/Empty {}