ROS2でkachaka

ROS 2でカチャカAPIを利用するを参考に作業してみます．

まずはDocker のインストール．
Install Docker Engine on Ubuntuに従って作業．

# Add Docker's official GPG key:
sudo apt-get update
sudo apt-get install ca-certificates curl
sudo install -m 0755 -d /etc/apt/keyrings
sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
sudo chmod a+r /etc/apt/keyrings/docker.asc

# Add the repository to Apt sources:
echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
  $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
  sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update

sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
sudo usermod -aG docker `whoami`

group を反映させるために，一回ターミナルを立ち上げ直したほうが良さげ．

cd ~/git
git clone https://github.com/pf-robotics/kachaka-api
cd kachaka-api/tools/ros2_bridge
./start_bridgh.sh <kachakaのIPアドレス>

つながった．

ryukoku@ryukoku-NucBoxG5:~$ ros2 topic list
/kachaka/back_camera/camera_info
/kachaka/back_camera/image_raw
/kachaka/back_camera/image_raw/camera_info
/kachaka/back_camera/image_raw/compressed
/kachaka/front_camera/camera_info
/kachaka/front_camera/image_raw
/kachaka/front_camera/image_raw/camera_info
/kachaka/front_camera/image_raw/compressed
/kachaka/imu/imu
/kachaka/layout/locations/list
/kachaka/layout/shelves/list
/kachaka/lidar/scan
/kachaka/mapping/map
/kachaka/object_detection/result
/kachaka/odometry/odometry
/kachaka/robot_info/version
/kachaka/tof_camera/camera_info
/kachaka/tof_camera/image_raw
/kachaka/tof_camera/image_raw/camera_info
/kachaka/tof_camera/image_raw/compressedDepth
/kachaka_description/joint_states
/kachaka_description/robot_description
/parameter_events
/rosout
/tf
/tf_static

あ，rviz が入っていなかった．

sudo apt-get install rviz