Create a ROS workspace in your home directory:
mkdir vention_dependencies_ws
We use Cartographer for multi-lidar SLAM. Follow their instructions at https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html. Be sure to set this up in vention_dependencies_ws.
Source vention_dependencies_ws before continuing.
Download the Vention ROS package, and put it into catkin_ws.
Download the URDF at
https://drive.google.com/file/d/1OZAdcuAua0Nr7p6ITxTQDwUMFzZjeR8F/view?usp=sharing
Put the URDF into ros_vention/urdf/meshes.
build the workspace with
catkin build
ros_vention/src/controllers/vention_joystick_control_v2.py
roslaunch ros_vention vention_description.launch
You may need to change the usb id/path of lidars in the launch file.
roslaunch ros_vention vention_rplidar_a1.launch
We are using the Realsense built-in IMU. If we have a true IMU, we don't need this. We use the IMU for odom -> vention_base_link.
roslaunch ros_vention vention_odm_d435.launch
We use cartographer for map -> odom
roslaunch ros_vention vention_cartographer_lidar.launch
You may need to change the Arduino usb id cmd_vel_bridge_basicmicro.py.
roslaunch ros_vention vention_navigation.launch
Open RViz and use the config in rviz/vention.rviz
You can move the base by giving it a 2D nav goal in RViz.