Logged Waypoints with ROS 2

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Installation Instructions

1. Create a new workspace or use an existing one:

   mkdir -p ~/<your_ws_name>/src
   cd ~/<your_ws_name>/src

2. Clone the repository:

   git clone https://github.com/ERIC-Robotics/logged_waypoint.git

3. Install dependencies:

   rosdep install --from-paths src --ignore-src -r -y

4. Build the workspace:

   cd ~/<your_ws_name>
   colcon build

5. Source the workspace:

   source install/setup.bash

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How to Use

1. Launch Navigation

Before using the waypoint logger or follower, ensure the robot is navigating within the environment.

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2. Log Waypoints

1. Run the waypoint logger:

   ros2 run my_waypoint_package waypoint_logger

2. Teleoperate the robot: Move the robot using teleoperation:

   ros2 run teleop_twist_keyboard teleop_twist_keyboard

3. Log waypoints:

   • Press 1 to save the current robot pose as a waypoint.
   • Once finished, press q to save and exit. The waypoints are stored in the YAML file specified at line 14 of the code.

4. Example of a saved YAML file:

   waypoints:
   - qw: 0.9999007126790602
     qx: 0.0
     qy: 0.0
     qz: -0.014091301710897897
     x: 0.5927034016440029
     y: -0.05189323222673988
     z: 0.0
   - qw: 0.9997242203348151
     qx: 0.0
     qy: 0.0
     qz: -0.02348368105613012
     x: 1.6418638198667752
     y: -0.10796116086388377
     z: 0.0

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3. Follow Waypoints

1. Run the waypoint follower:

   ros2 run my_waypoint_package logged_waypoint_follower

2. Behavior:

   • The robot will navigate to each waypoint in the order they were logged.
   • Ensure the /amcl_pose topic provides accurate localization.

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Example Workflow with TurtleBot3

• Start the Gazebo simulation:

  ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

• Launch the navigation stack:

  ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=<path_to_map>

• If no map exists, create one:

  1. Launch SLAM:

     ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=true

  2. Save the map:

     ros2 run nav2_map_server map_saver_cli -f mapname

3. Log waypoints:

   • Start the logger:

     ros2 run my_waypoint_package waypoint_logger

   • Use teleoperation:

     ros2 run teleop_twist_keyboard teleop_twist_keyboard

   • Press 1 to log waypoints and q to save and exit.

4. Follow waypoints:

   ros2 run my_waypoint_package logged_waypoint_follower

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Notes

• The waypoint logger saves waypoints to the YAML file at the location specified in line 14 of the logger script (~/waypoints.yaml by default).
• Ensure the /amcl_pose topic is available and publishing valid localization data.
• Test the setup in simulation before deploying on a real robot.