icclab_summit_xl

Base scripts for robots at ICCLab

For documentation see the wiki

Simulation

Quick Start:

1. Launch the simulation:

    ros2 launch icclab_summit_xl summit_xl_simulation.launch.py
   

2. Launch Nav2:

    ros2 launch icclab_summit_xl summit_xl_nav2.launch.py
   

3. Launch arm control:

    ros2 launch icclab_summit_xl summit_xl_move_it.launch.py
   

For Mapping + Nav2:

    ros2 launch summit_xl_navigation nav2_bringup_launch.py slam:=True

Visualizing Nav2 Rviz config launched manually (notice the namespacing):

ros2 launch icclab_summit_xl rviz.launch.py rviz_config:=navigation.rviz

Debug:

We're using namespaced tf, so if you want to use rqt to debug and see the frames please launch it like this:

    rqt --ros-args -r __ns:=/summit -r /tf:=tf -r /tf_static:=tf_static

On robot

1. Robot base:

    ros2 launch icclab_summit_xl summit_xl_real.launch.py
   

2. Arm controllers (press yellow button on arm board first):

    ros2 launch icclab_summit_xl arm_controller.launch.py
   

3. Nav2:

    ros2 launch icclab_summit_xl summit_xl_nav2.launch.py slam:=True use_sim_time:=False