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
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