bwi_ros2_minimal

Note: make sure your account is in a 'dialout' group. Contact admin if not sure.

Create a ros2 workspace using:

echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
mkdir bwi_ros2
cd bwi_ros2
echo 'export COLCON_WS=~/bwi_ros2' >> ~/.bashrc 
source ~/.bashrc
mkdir src

Dependencies Installation:

Serial:

cd ~/bwi_ros2
git clone https://github.com/utexas-bwi/serial.git

cd serial
mkdir build
cd build
cmake ..
make

Azure_Kinect_ROS_Driver

cd ~/bwi_ros2/src
git clone --branch humble https://github.com/microsoft/Azure_Kinect_ROS_Driver.git

ROS2 packages

cd ~/bwi_ros2/src
git clone https://github.com/utexas-bwi/segway_msgs.git
git clone https://github.com/utexas-bwi/bwi_ros2_description.git
git clone https://github.com/utexas-bwi/bwi_ros2_common.git

cd ~/bwi_ros2/src
mkdir lidar
cd lidar

git clone https://github.com/utexas-bwi/scan_filter.git
git clone --recursive https://github.com/utexas-bwi/urg_node2.git

for v4s and v5s:

cd ~/bwi_ros2/src/lidar
git clone https://github.com/utexas-bwi/ros2_laser_scan_merger.git
git clone https://github.com/ros-drivers/velodyne.git

(BWIBOTs V2s only) segway drivers:

cd ~/bwi_ros2/src
git clone https://github.com/utexas-bwi/libsegwayrmp_ros2.git
mv libsegwayrmp_ros2/ libsegwayrmp
git clone https://github.com/utexas-bwi/segway_rmp_ros2.git

(BWIBOTs V4s and V5s only) segway drivers:

pip install pyserial
cd ~/bwi_ros2/src
git clone https://github.com/Living-With-Robots-Lab/ros2segway.git

other packages:

cd ~/bwi_ros2/src
git clone https://github.com/utexas-bwi/convex_decomposition.git
git clone https://github.com/utexas-bwi/ivcon.git

Visit Door list

cd ~/bwi_ros2/src
git clone https://github.com/Living-With-Robots-Lab/bwi_tasks.git

Build

cd ~/bwi_ros2
rosdep update
rosdep install --from-paths src -y --ignore-src
colcon build
source install/setup.bash

if colcon build fails on V2s then try this: pip install --upgrade packaging --user . Build once again.

Run

Run the robot

V2s:

ros2 launch bwi_launch segbot_v2.launch.py

V4s and v5s: use segbot_v4 or segbot_v5 above

Run the Azure camera drivers

ros2 launch azure_kinect_ros_driver driver.launch.py

Run visit door list

ros2 run bwi_tasks visit_door_list