Note
Please make sure to create a new branch instead of forking the repo when working on new tasks.
The Docker setup provides:
- ROS 2 Jazzy
- MAVROS
- Cartographer
- sf45b drivers
./docker/build.sh# Run first terminal
sudo ./docker/run.sh
# Run more terminals
sudo ./docker/attach.shcd /workspace/ros2_ws
rm -rf build install log
colcon build
source install/setup.bash
ros2 launch slam slam_launch.py
# OR
./sf45b
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 laser laser_frame
ros2 run cartographer_ros cartographer_node -configuration_directory /workspace/ros2_ws/src/slam/config -configuration_basename sf45b_2d.lua --ros-args -p provide_odom_frame:=true -p expected_sensor_ids:="[scan]" -r scan:=/scan
ros2 run cartographer_ros cartographer_occupancy_grid_node -resolution 0.05 -publish_period_sec 1.0
rviz2