# Avatar-R_Driver_ros2

**Repository Path**: beijing-guoxin-ruibo_0/Avatar-R_Driver_ros2

## Basic Information

- **Project Name**: Avatar-R_Driver_ros2
- **Description**: Avatar-R机器人ros2驱动
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: ros2-humble-driver-dev
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-06-14
- **Last Updated**: 2023-07-04

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

### Avatar-R_Driver_ros2
### 关于：


-这是一个ROS2与Aatar-R机器人接口。

-需要Avatar-R_Lib才能使用此软件包

-这被用于开发ros2上Avatar-R机器人

### 安装说明:



1.将此软件包克隆到您的工作区中
```
cd workspace/src/
git clone https://gitee.com/beijing-guoxin-ruibo_0/Avatar-R_Driver_ros2.git
```
2. 安装Udev rules
```
cd workspace/src/roverrobotics_driver/udev
sudo cp 55-roverrobotics.rules /etc/udev/rules.d/55-roverrobotics.rules && sudo udevadm control --reload-rules && udevadm trigger
```
3. 安装动态连接库
``` 
cd ~/
mkdir library/
cd library/
git clone https://gitee.com/beijing-guoxin-ruibo_0/Avatar-R_Lib.git
cd librover/
cmake .
make
sudo make install 
```
4. 编译
```
cd workspace/
colcon build
```
5. 设置环境变量
```
source install/setup.sh
```
6. 启动机器人(根据您的机器人版本选择相应的 <launch file name>)
```
ros2 launch roverrobotics_driver <launch file name>
```
  ```
  Launch 文件包括:
  <model>.launch.py: Launches robot configuration for specific rover robot. (i.e. Mini, Mega, Pro2, Zero2)
  <model>_teleop.launch.py: Launches robot configuration with teleop controller enabled.
  rover_slam_mapping.launch.py: Launches lidar and slam toolbox in asynchronous mapping mode(Requires slam package).
  rover_slam_localization.launch.py: Launches lidar and slam toolbox in localization mapping mode.
  ```