Usage

Robot bringup

andino_bringup contains launch files that concentrate the process that brings up the robot.

After installing and sourcing the andino’s packages simply run:

ros2 launch andino_bringup andino_robot.launch.py

This launch file initializes the differential drive controller and brings up the system to interface with ROS. By default, sensors like the camera and the lidar are initialized. This can be disabled via arguments and manage each initialization separately. See ros2 launch andino_bringup andino_robot.launch.py -s for checking out the arguments.

• include_rplidar: true as default.

• include_camera: true as default.

After the robot is launched, use ROS 2 CLI for inspecting the environment. For example, by doing ros2 topic list the available topics can be displayed:

/camera_info /cmd_vel /image_raw /odom /robot_description /scan /tf /tf_static

Note: Showing just some of them

Teleoperation

Launch files for using the keyboard or a joystick for teleoperating the robot are provided.

Keyboard

ros2 launch andino_bringup teleop_keyboard.launch.py

This is similar to just executing ros2 run teleop_twist_keyboard teleop_twist_keyboard.

Joystick

andino_bringup package provides a launch file for launching the corresponding ROS 2 nodes for teleoperating the robot using a joystick.

It is worth mentioning that a set up might be needed depending on the gamepad you are using. Here some general guidelines:

• In case you are using a Xbox One Controller and you want use it wireless (via USB Wireless Dongle) installing Xone is recommended.

• Verify that your joystick is actually working on Ubuntu: - Some tools that might be useful:

  sudo apt install joystick jstest-gtk evtest
  

  • Run evtest to check if your pad is connected:

    $ evtest
    No device specified, trying to scan all of /dev/input/event*
    Not running as root, no devices may be available.
    Available devices:
       /dev/input/event22:    Microsoft X-Box One pad
    

  • Alternatively, you can use jstest-gtk to check the controller, you will find a pretty GUI to play with.

Finally, launch the teleoperation:

ros2 launch andino_bringup teleop_joystick.launch.py

RViz

Use:

ros2 launch andino_bringup rviz.launch.py

For starting rviz2 visualization with a provided configuration.

Navigation

The andino_navigation package provides a navigation stack based on the great Nav2 package.

Follow the andino_navigation instructions for bringing up the Navigation stack in the real robot or in the simulation.

Simulation

The andino_gz_classic package provides a Gazebo simulation for the Andino robot.