Demos on Gazebo

Before running the demos it is necessary to get acquainted with the setup section of the documentation. Make sure you check: Prerequisites.

You can find the demos from the following repositories:

1. AR Demo Follow-the-leader

2. AR Steering

3. Slam 2D

4. Mapping 3D

Launching the Simulation

Make sure you have already set up the simulation following the steps described in Gazebo Simulator.

2D Mapping and Localization

Setup

Hint

Before installing any packages from apt, make sure existing packages are up-to-date:

sudo apt update && sudo apt upgrade -y

Hint

ROS packages installed from apt are only available in terminals where the ROS environment has been sourced. To use these packages, you must first source the general ROS 2 environment:

source /opt/ros/jazzy/setup.bash

1. Install Nav2 from apt:

   sudo apt install ros-jazzy-navigation2
   

2. Navigate to your colcon workspace

   cd ~/<your_colcon_workspace>/src
   

3. Clone the depthimage_to_laserscan package

   git clone https://github.com/ros-perception/depthimage_to_laserscan.git --branch ros2
   

4. Build the package:

   colcon build --packages-select depthimage_to_laserscan
   

The demo for 2D slam based navigation is available from this repository.

1. Navigate to your colcon workspace

   cd ~/<your_colcon_workspace>/src
   

2. Clone the 2d_slam package

   git clone https://github.com/robotont-demos/2d_slam.git
   

3. Build the package:

   colcon build --packages-select 2d_slam
   

Running the demo

The demo can be run on a Robotont featuring either a LIDAR or the standard Realsense D435i camera

Setting 2D navigation goals

Using ROS Navigation to make the robot move autonomously is straightforward. In RViz, you have two main GUI buttons: one to set the robot’s current location (if it doesn’t localize itself accurately at startup), and one to set its navigation goal.

1. To set the initial pose:

   Click on “2D Pose Estimate” in the RViz toolbar, then click and drag the arrow to indicate where the robot is located and which way it is facing.

   

2. To set a navigation goal:

   Click on “2D Goal Pose” in the RViz toolbar, then click and drag the arrow to the desired destination and orientation for the robot.

   

3D mapping

Creates a 3D map of the robot’s surroundings.

Follow the leader

The follow the leader demo shows the capabilities of the Robotont platform to detect and follow the AR Tag.

AR steering

The AR steering demo shows the capabilities of the Robotont platform to detect and follow the AR Tag.

AR maze

The AR maze demo shows the capabilities of the Robotont platform to detect and follow the AR Tag.