boxer_ros2

Overview

ROS2 packages for Boxer

Install packages

cd ~/colcon_ws/src/
git clone https://github.com/roasinc/boxer_ros2.git

Important

Install on the backpack computer.

Build

cd ~/colcon_ws/
rosdep insta
colcon build --symlink-install

Usage

Backpack PC

zenoh-bridge-ros2dds
ros2 launch boxer_bringup bringup_launch.py
ros2 launch boxer_navigation slam_launch.py or nav2_launch.py

Remote PC

zenoh-bridge-ros2dds -e tcp/<robot_ip>:7447
sudo ip l set lo multicast on
ros2 launch boxer_navigation rviz_launch.py

Tip

Check the Boxer's API version and serial number before running.

📝 Bridge & Zenoh DDS Setting

Backpack PC ( Bridge )

gedit ~/.bashrc
 > export ROS1_INSTALL_PATH=/opt/ros/noetic
 > export ROS2_INSTALL_PATH=~/ros2_rolling/install

mkdir -p ~/bridge_ws/src
cd ~/bridge_ws/src
git clone https://github.com/ros2/ros1_bridge.git
cd ~/bridge_ws
colcon build —symlink-install —packager-skip ros1_bridge

source /opt/ros/noetic/setup.bash
source ~/ros2_humble/install/setup.bash

colcon build —symlink-install —packager-select ros1_bridge —cmake-force-configure

참고 : https://github.com/jayprajapati009/ros1_bridge_tutorial

Backpack PC ( Zenoh DDS )

echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
sudo apt update

sudo apt install zenoh-bridge-ros2dds
docker pull eclipse/zenoh-bridge-ros2dds:latest

zenoh-bridge-ros2dds

Remote PC ( Zenoh DDS )

echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
sudo apt update

sudo apt install zenoh-bridge-ros2dds
docker pull eclipse/zenoh-bridge-ros2dds:latest

sudo ip l set lo multicast on
zenoh-bridge-ros2dds -e tcp/<robot-ip>:7447

참고 : https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds?tab=readme-ov-file#linux-debian