iRob_bot_ros2

iRob_bot_ros2 is a ROS2 support package for iRob-bot project, this includes :

irob_msgs for motor message and control message
irob_interface for hardware interface
irob_controller for various types of holonomic robot (3 wheels Omni, 4 wheels Omni and 4 wheels Mecanum)
irob_maneuv3r for A to B position controller
irob_maneuv3r_tracker for pure-pursuit path tracking controller
irob_trajectory_maker for manual path planning via RViz
irob_trajectory_server for publishing trajectory using PoseStamped message. Save to CSV file soon (work in progress)
irob_launcher for launching the above packages

Dependencies

create ROS workspace if you don't already have it
navigate to your workspace's source folder. For example ros2_ws/src
git clone this project
navigate back to the root of your source folder. For example ros2_ws
runs the following command colcon build --symlink-install --packages-select irob_msgs irob_interface irob_controller irob_maneuv3r irob_trajectory_maker

implement the irob_interface_wireless to be used with the original iRob-bot
built-in EKF to support other odometry method (based on optical mouse sensor, LiDAR and/or dead wheels)
save trajectory from irob_trajectory_server into CSV format