ai-navigation

ROS2 Code for JACart2 - Please read the following before continuing

Structure

motor_control

Contains the code for controlling the arduino board and processes navigation instructions. This package houses the first steps in getting the cart setup. It is recommened to follow all of the instructions located here before continuing.

motor_control_interface

This package contains the messages that actually allow us to communicate with the motor control nodes

navigation

This package houses graph files, navigation nodes and utility scripts for the gold cart. To read more please see the navigation README .

navigation_interface

This package houses all the necessary msgs to communicate with the cart for navigation purposes. For more informtaion on the msg types please see the navigation_interface README. Contains all code and information for the processing and computing navigation, including local and global planners.

teleop

Used to manually control the cart using keyboard input. Requires the motor_endpoint documented in the motor control package to be running first.

Setup

Once this initial setup procedure is completed you should be able to follow along with the continued setup sections in other packages.

1. Ensure ROS2 humble is installed on your machine and navigate to /dev_ws/src by either creating the directory or going into a premade one.

   mkdir -p dev_ws/src
   cd dev_ws/src

2. Clone the ai-navigation repository into dev_ws/src folder. After the clone is complete you should cd back into dev_ws.

   git clone https://github.com/JACart2/ai-navigation.git
   cd ..

3. Run the setup script from the dev_ws directory.

   ./src/ai-navigation/motor_control/resource/startup_script.sh

Quick Commands

• ros2 launch motor_control motor.launch.py Starts the node that controls the motor
• ros2 run teleop teleop_node Starts the teleop controller