Omron AMR package

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This package is a restructuring of OmronAPAC/Omron_AMR_ROS2 along with integration of libaria following KalanaRatnayake/ros_omron_agv

View New Developer's Guide. View Old Developer's Guide.

Branch	ROS2 Version	Compile
main	Jazzy
develop	Jazzy
humble	Humble

Setup

Create a workspace

mkdir -p omron_ws/src
cd omron_ws/src

Install dependencies

sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-slam-toolbox ros-humble-teleop-twist-joy ros-humble-joy

Clone the repositories into the src folder by

git clone  --recurse-submodules https://github.com/CollaborativeRoboticsLab/omron_amr.git

Build by

cd ..
colcon build

Usage

Start the robot base LD90

source install/setup.bash
ros2 launch amr_ros ld90.launch.py

to start with the rviz visualization, run

source install/setup.bash
ros2 launch amr_ros ld90.launch.py rviz:=true

Start the robot base LD250

source install/setup.bash
ros2 launch amr_ros ld250.launch.py

to start with the rviz visualization, run

source install/setup.bash
ros2 launch amr_ros ld250.launch.py rviz:=true

Start only the hardware interface for any robot base

source install/setup.bash
ros2 launch amr_ros amr_core.launch.py

Start Teleoperation

source install/setup.bash
ros2 launch amr_teleop amr_joyop.launch.py