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A ROS2 workspace for labbot robot.

How to install ROS2 TurtleBot3 packages from sources?

Based on https://ros2-industrial-workshop.readthedocs.io/en/latest/_source/navigation/ROS2-Turtlebot.html

  1. Download turtlebot3.repos into workspace directory (it should containt at least src directory):
wget https://raw.githubusercontent.com/LRMPUT/labbot/ROS2-Humble/turtlebot3.repos
  1. Get packages using vcstools:
vcs import src<turtlebot3.repos
  1. Get dependiences using rosdep:
rosdep update
rosdep install --from-paths src --ignore-src  -y --rosdistro humble
  1. Source the workspace:
  • with the global ROS2 installation (only if building the workspace for the first time):
source /opt/ros/humble/setup.bash
  • locally (otherwise):
source install/setup.bash
  1. Install packages:
colcon build --symlink-install

thanks to --symlink-install changes made in python nodes will take effect without rebuilding the workspace.

Odometry

Migration from http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom to https://navigation.ros.org/setup_guides/odom/setup_odom.html

  • use ros2_control: "An alternative to manually publishing this information that we recommend is through the ros2_control framework. The ros2_control framework contains various packages for real-time control of robots in ROS 2."