T-Robotics AMR ROS 2 Software Stack

This repository contains the official ROS 2 software stack for the Autonomous Mobile Robot (AMR) platform developed by T-Robotics.

Overview

This repository contains ROS 2 packages for implementing autonomous navigation and control on the AMR platform developed by T-Robotics.
This work was conducted as part of the T-Robotics Industry-University Cooperation Project.

Dependencies

• ROS 2 Humble: Please follow the official installation instructions.
• Required ROS 2 Packages:

sudo apt-get update && sudo apt-get install -y \
    ros-humble-rclcpp \
    ros-humble-navigation2 \
    ros-humble-slam-toolbox \
    ros-humble-robot-state-publisher \
    ros-humble-ros2-control \
    ros-humble-ros2-controllers \
    ros-humble-gazebo-ros2-control \
    ros-humble-gazebo-plugins \
    ros-humble-xacro \
    ros-humble-diagnostic-updater \
    ros-humble-sick-safetyscanners2 \
    ros-humble-robot-localization

• Lely CANopen:

sudo add-apt-repository ppa:lely/ppa
sudo apt-get update
sudo apt-get install -y liblely-coapp-dev liblely-co-tools python3-dcf-tools
sudo apt-get install pkg-config
sudo apt-get install can-utils

• Other System Libraries:

sudo apt install -y \
    python3-pytest \
    python3-colcon-common-extensions \
    libboost-dev \
    nlohmann-json3-dev \
    libserial-dev \
    xterm

Installation

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/RCILab/RCI_mobile_navigation_tr.git
cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash

Usage

Real-world

1. Bringup

   ros2 launch tr_real bringup_real.launch.py

2. Mapping

   ros2 launch tr_nav2_bringup mapping.launch.py
   ros2 launch tr_nav2_bringup rviz_launch.py
   ros2 run nav2_map_server map_saver_cli -f ~/tr_ws/src/tr_real/maps/<map_name>

3. Navigation

   ros2 launch tr_real tr_navigation2.launch.py map_name:='<map_name>'

   Note on Speed Filter (Speed Zones):
   • The speed mask filename must end with the _sm suffix (e.g., <map_name>_sm.pgm).
   • To disable the speed filter, set the use_speed_zone parameter to False:

   ros2 launch tr_real tr_navigation2.launch.py map_name:='<map_name>' use_speed_zone:='False'

Simulation

1. Bringup

   ros2 launch tr_sim simulation.launch.py world:='<world_name>'

2. Mapping

   ros2 launch tr_nav2_bringup mapping.launch.py
   ros2 launch tr_nav2_bringup rviz_launch.py
   ros2 run nav2_map_server map_saver_cli -f ~/tr_ws/src/tr_sim/maps/<map_name>

3. Navigation

   ros2 launch tr_sim tr_navigation2.launch.py map_name:='<map_name>'

   Note on Speed Filter (Speed Zones):
   • The speed mask filename must end with the _sm suffix (e.g., <map_name>_sm.pgm).
   • To disable the speed filter, set the use_speed_zone parameter to False:

   ros2 launch tr_sim tr_navigation2.launch.py map_name:='<map_name>' use_speed_zone:='False'

Examples

Real-world

• Two-Way Waypoint Navigation

   cd ~/ros2_ws/src/RCI_mobile_navigation_tr/tr_real/test
   python3 test.py

Simulation

• Two-Way Waypoint Navigation

   cd ~/ros2_ws/src/RCI_mobile_navigation_tr/tr_sim/test
   python3 test.py

License

This project is licensed under the MIT License - see the LICENSE file for details.

Contact

Maintainer: Daum Park (doumpork@khu.ac.kr)
Lab: RCI Lab @ Kyung Hee University