RoverNavigationController2025
URC2025 Navigation Package
Environment
| - | version |
|---|
| ROVER | ARES8 |
| OS | Ubuntu22.04 |
| ROS | ROS2 Iron |
Overview
In this package, odometry is calculated from gps.
1.Setup
build the packages in your ws
cd ~your_ws/src
git clone https://github.com/aresproject-jp/rover-controller2025.git
source /opt/ros/iron/setup.bash
colcon build
2. Change uart(ttyACM,ttyUSB) channel and GPS Waypoints
1. Change tty channel
You have to check two tty ports in uart_control and ares_sensor.
uart_control
uart_control/uart_control/serial.py
ares_sensor
ares_sensor/ares_sensor/ares_sensor.py
2. Update GPS Waypoints
nav_master/config/waypoints.yaml
Change the latitude and longitude. Other waypoints can be added under yaw.
waypoints:
- latitude: 38.266449
longitude: 140.845878
yaw: 0.0
3. Launch nav
[!IMPORTANT]
Plz source bash files before launch .py
launch sensor package
launch sensor node, getting gps and magnetic-field data.
ros2 launch ares_sensor ares_sensor.launch.py
launch LiDAR sensor package
launch LiDAR sensor node.
ros2 launch livox_ros_driver2 msg_MID360_launch.py
launch topic transform package
launch LiDAR data topic transform node.
ros2 run livox_to_pointcloud2 livox_to_pointcloud2_node --ros-args -r /livox_pointcloud:=/livox/lidar
launch laser-scan package
launch laser-scan node.
ros2 launch pointcloud_to_laserscan pointcloud_to_laserscan.launch.py
launch uart_control slam package
launch uart_control node. Send control data to Arduino Due.
ros2 launch uart_control uart_control.launch.py
launch navigation package
launch gps follower navigation node.
ros2 launch nav_rover_control gps_waypoint_follower.launch.py
launch waypoint follow
GPS data is converted to odometry.
The rover goes to the location set in the yaml file.
Navigation start.
ros2 launch nav_master nav_master.launch.py
launch camera
ros2 launch ros2_aruco aruco_control.launch.py
ros2 run realsense2_camera realsense2_camera_node
ros2 launch yolo_node nav_status_monitor.launch.py
RGB CAMERA VERSION
ros2 run v4l2_camera v4l2_camera_node
ros2 topic pub /nav_status std_msgs/msg/Int16 "{data: 5}"
ros2 run ros2_aruco aruco_node --ros-args -p image_topic:="/camera/camera/color/image_raw" -p camera_info_topic:="/camera/camera/color/camera_info" -p marker_size:=0.10 -p aruco_dictionary_id:="DICT_4X4_50" -p camera_frame:="camera_color_optical_frame"
RGB CAMERA VERSION
ros2 run ros2_aruco aruco_node --ros-args -p image_topic:="/image_raw" -p camera_info_topic:="/camera_info" -p marker_size:=0.10 -p aruco_dictionary_id:="DICT_4X4_50"
kill node
ps aux | grep node_name
kill id