From 957b256e4a6f32f818e6e76674b574bdc5b31142 Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Sat, 16 Sep 2023 00:57:54 +0900 Subject: [PATCH 1/7] =?UTF-8?q?emcl2=5Fros2=20=E3=81=AE=E3=82=BB=E3=83=83?= =?UTF-8?q?=E3=83=88=E3=82=A2=E3=83=83=E3=83=97=E3=83=9A=E3=83=BC=E3=82=B8?= =?UTF-8?q?=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../real_machine/set_up/emcl2_ros2.md | 50 +++++++++++++++++++ mkdocs.yml | 1 + 2 files changed, 51 insertions(+) create mode 100644 docs/document/real_machine/set_up/emcl2_ros2.md diff --git a/docs/document/real_machine/set_up/emcl2_ros2.md b/docs/document/real_machine/set_up/emcl2_ros2.md new file mode 100644 index 0000000..31b5e57 --- /dev/null +++ b/docs/document/real_machine/set_up/emcl2_ros2.md @@ -0,0 +1,50 @@ +## 概要 +raspicatを[emcl2_ros2](https://github.com/cit-autonomous-robot-lab/emcl2_ros2)で自己位置推定させる方法 + +## 環境構築手順 +### パッケージの準備 +#### raspicat_slam_navigation +emcl2_ros2を起動するブランチに切り替える。 +``` bash +cd ~/raspicat2/src/raspicat_slam_navigation +git checkout -b feat/emcl2-ros2 origin/feat/emcl2-ros2 +``` +#### emcl2_ros2 +肝心の[emcl2_ros2](https://github.com/cit-autonomous-robot-lab/emcl2_ros2)パッケージをクローンする。 +``` bash +cd ~/raspicat2/src +git clone https://github.com/cit-autonomous-robot-lab/emcl2_ros2 +``` + +### ビルド +``` bash +cd ~/raspicat2 +colcon build --symlink-install --packages-select raspicat_navigation emcl2 +source install/setup.bash +``` + +## 動作確認 +### launchファイルを実行 +``` bash +ros2 launch raspicat_navigation raspicat_nav2.launch.py +``` + +### `/emcl2`ノードが立ち上がったことを確認 +`/amcl`ノードが立ち上がっていないことも確認 +``` bash +ros2 node list +``` + +## amclに戻したい場合 +### ブランチをデフォルト`ros2`に戻す +``` bash +cd ~/raspicat2/src/raspicat_slam_navigation +git checkout ros2 +``` + +### ビルド +``` bash +cd ~/raspicat2 +colcon build --symlink-install --packages-select raspicat_navigation +``` + diff --git a/mkdocs.yml b/mkdocs.yml index 9dd4313..d410c7b 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -89,6 +89,7 @@ nav: - 有線LAN（Ethernet）: document/real_machine/set_up/wired.md - 無線LAN（Wi-Fi）: document/real_machine/set_up/wireless.md - Ethernet LiDAR の接続: document/real_machine/set_up/ethernet_lidar.md + - emcl2_ros2 の使用: document/real_machine/set_up/emcl2_ros2.md - Basic Operation: - 基本操作: document/real_machine/basic_operation/basic_operation.md - Time Synchronization: From c0bae0474e552e1fca34d4444957c5496b38263f Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Fri, 27 Oct 2023 03:00:49 +0900 Subject: [PATCH 2/7] =?UTF-8?q?Raspberry=20Pi=20Cat=20=E8=A1=A8=E8=A8=98?= =?UTF-8?q?=E3=81=AB=E5=A4=89=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/document/real_machine/set_up/emcl2_ros2.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/document/real_machine/set_up/emcl2_ros2.md b/docs/document/real_machine/set_up/emcl2_ros2.md index 31b5e57..ab0f6ad 100644 --- a/docs/document/real_machine/set_up/emcl2_ros2.md +++ b/docs/document/real_machine/set_up/emcl2_ros2.md @@ -1,5 +1,5 @@ ## 概要 -raspicatを[emcl2_ros2](https://github.com/cit-autonomous-robot-lab/emcl2_ros2)で自己位置推定させる方法 +Raspberry Pi Catを[emcl2_ros2](https://github.com/cit-autonomous-robot-lab/emcl2_ros2)で自己位置推定させる方法 ## 環境構築手順 ### パッケージの準備 From 058df0cbccfd84f632551c6752b86d5afb14948d Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Fri, 27 Oct 2023 03:01:57 +0900 Subject: [PATCH 3/7] =?UTF-8?q?emcl2=20=E3=83=8E=E3=83=BC=E3=83=89?= =?UTF-8?q?=E3=81=8C=E7=AB=8B=E3=81=A1=E4=B8=8A=E3=81=8C=E3=81=A3=E3=81=9F?= =?UTF-8?q?=E3=81=8B=E3=81=A9=E3=81=86=E3=81=8B=E7=A2=BA=E8=AA=8D=E3=81=99?= =?UTF-8?q?=E3=82=8B=E3=81=9F=E3=82=81=E3=81=AB=20grep=20=E3=81=A7?= =?UTF-8?q?=E6=A4=9C=E7=B4=A2=E3=81=99=E3=82=8B=E3=81=93=E3=81=A8=E3=81=AB?= =?UTF-8?q?=E3=81=97=E3=81=9F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/document/real_machine/set_up/emcl2_ros2.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/document/real_machine/set_up/emcl2_ros2.md b/docs/document/real_machine/set_up/emcl2_ros2.md index ab0f6ad..85390bb 100644 --- a/docs/document/real_machine/set_up/emcl2_ros2.md +++ b/docs/document/real_machine/set_up/emcl2_ros2.md @@ -32,7 +32,7 @@ ros2 launch raspicat_navigation raspicat_nav2.launch.py ### `/emcl2`ノードが立ち上がったことを確認 `/amcl`ノードが立ち上がっていないことも確認 ``` bash -ros2 node list +ros2 node list | grep /emcl2 ``` ## amclに戻したい場合 From 891cfff7a533613644a21cb26b16b6079678721f Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Fri, 27 Oct 2023 03:03:41 +0900 Subject: [PATCH 4/7] =?UTF-8?q?emcl2=5Fros2=20=E3=81=AE=E3=83=9A=E3=83=BC?= =?UTF-8?q?=E3=82=B8=E3=82=92=20navigation=20=E3=81=AB=E7=A7=BB=E3=81=97?= =?UTF-8?q?=E3=81=9F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/document/real_machine/{set_up => navigation}/emcl2_ros2.md | 0 mkdocs.yml | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) rename docs/document/real_machine/{set_up => navigation}/emcl2_ros2.md (100%) diff --git a/docs/document/real_machine/set_up/emcl2_ros2.md b/docs/document/real_machine/navigation/emcl2_ros2.md similarity index 100% rename from docs/document/real_machine/set_up/emcl2_ros2.md rename to docs/document/real_machine/navigation/emcl2_ros2.md diff --git a/mkdocs.yml b/mkdocs.yml index d410c7b..d156f0d 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -89,7 +89,6 @@ nav: - 有線LAN（Ethernet）: document/real_machine/set_up/wired.md - 無線LAN（Wi-Fi）: document/real_machine/set_up/wireless.md - Ethernet LiDAR の接続: document/real_machine/set_up/ethernet_lidar.md - - emcl2_ros2 の使用: document/real_machine/set_up/emcl2_ros2.md - Basic Operation: - 基本操作: document/real_machine/basic_operation/basic_operation.md - Time Synchronization: @@ -99,6 +98,7 @@ nav: - Navigation: - ナビゲーション: document/real_machine/navigation/navigation.md - ウェイポイント ナビゲーション: document/real_machine/navigation/waypoint_navigation.md + - emcl2_ros2 の使用: document/real_machine/set_up/emcl2_ros2.md - Repository: - Raspberry Pi Cat関連のリポジトリ: repository/repository.md From d58534b295233911762fa268f27cfaa68dabcc5e Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Mon, 27 Nov 2023 16:31:28 +0900 Subject: [PATCH 5/7] =?UTF-8?q?emcl2=5Fros2.md=20=E3=81=AE=E3=83=91?= =?UTF-8?q?=E3=82=B9=E9=96=93=E9=81=95=E3=81=88=E3=81=A6=E3=81=9F=E3=81=AE?= =?UTF-8?q?=E3=81=A7=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- mkdocs.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mkdocs.yml b/mkdocs.yml index d156f0d..412eb0d 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -98,7 +98,7 @@ nav: - Navigation: - ナビゲーション: document/real_machine/navigation/navigation.md - ウェイポイント ナビゲーション: document/real_machine/navigation/waypoint_navigation.md - - emcl2_ros2 の使用: document/real_machine/set_up/emcl2_ros2.md + - emcl2_ros2 の使用: document/real_machine/navigation/emcl2_ros2.md - Repository: - Raspberry Pi Cat関連のリポジトリ: repository/repository.md From 96e718c94fd788b50283f4229e09e803802d4bed Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Thu, 18 Apr 2024 17:44:07 +0900 Subject: [PATCH 6/7] =?UTF-8?q?=E3=83=8F=E3=82=A4=E3=83=91=E3=83=BC?= =?UTF-8?q?=E3=83=AA=E3=83=B3=E3=82=AF=E3=81=AE=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/document/real_machine/navigation/emcl2_ros2.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/document/real_machine/navigation/emcl2_ros2.md b/docs/document/real_machine/navigation/emcl2_ros2.md index 85390bb..6d3d8c7 100644 --- a/docs/document/real_machine/navigation/emcl2_ros2.md +++ b/docs/document/real_machine/navigation/emcl2_ros2.md @@ -3,13 +3,13 @@ Raspberry Pi Catを[emcl2_ros2](https://github.com/cit-autonomous-robot-lab/emcl ## 環境構築手順 ### パッケージの準備 -#### raspicat_slam_navigation -emcl2_ros2を起動するブランチに切り替える。 +#### [raspicat_slam_navigation](https://github.com/cit-autonomous-robot-lab/raspicat_slam_navigation) +[emcl2_ros2](https://github.com/cit-autonomous-robot-lab/raspicat_slam_navigation)を起動するブランチに切り替える。 ``` bash cd ~/raspicat2/src/raspicat_slam_navigation git checkout -b feat/emcl2-ros2 origin/feat/emcl2-ros2 ``` -#### emcl2_ros2 +#### [emcl2_ros2](https://github.com/cit-autonomous-robot-lab/emcl2_ros2) 肝心の[emcl2_ros2](https://github.com/cit-autonomous-robot-lab/emcl2_ros2)パッケージをクローンする。 ``` bash cd ~/raspicat2/src From 13dbfebe0a537ad7ecb096437879282eec0e8826 Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Thu, 18 Apr 2024 17:48:26 +0900 Subject: [PATCH 7/7] =?UTF-8?q?=E3=83=8F=E3=82=A4=E3=83=91=E3=83=BC?= =?UTF-8?q?=E3=83=AA=E3=83=B3=E3=82=AF=E3=81=AE=E3=83=AA=E3=83=B3=E3=82=AF?= =?UTF-8?q?=E5=85=88=E3=81=8C=E3=81=BE=E3=81=A1=E3=81=8C=E3=81=A3=E3=81=A6?= =?UTF-8?q?=E3=81=84=E3=81=9F=E3=81=AE=E3=82=92=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/document/real_machine/navigation/emcl2_ros2.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/document/real_machine/navigation/emcl2_ros2.md b/docs/document/real_machine/navigation/emcl2_ros2.md index 6d3d8c7..8eb7ec6 100644 --- a/docs/document/real_machine/navigation/emcl2_ros2.md +++ b/docs/document/real_machine/navigation/emcl2_ros2.md @@ -4,7 +4,7 @@ Raspberry Pi Catを[emcl2_ros2](https://github.com/cit-autonomous-robot-lab/emcl ## 環境構築手順 ### パッケージの準備 #### [raspicat_slam_navigation](https://github.com/cit-autonomous-robot-lab/raspicat_slam_navigation) -[emcl2_ros2](https://github.com/cit-autonomous-robot-lab/raspicat_slam_navigation)を起動するブランチに切り替える。 +[emcl2_ros2](https://github.com/cit-autonomous-robot-lab/emcl2_ros2)を起動するブランチに切り替える。 ``` bash cd ~/raspicat2/src/raspicat_slam_navigation git checkout -b feat/emcl2-ros2 origin/feat/emcl2-ros2