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(Neato) Botvac launch files

This repository contains ROS2 Foxy launch files for the Neato Botvac robots.

Assumes Ubuntu 20.04 and ROS2 have been successfully installed

Install on RPi4

Prerequisites:

sudo apt install build-essential
sudo apt install ros-foxy-xacro
sudo apt install python3-rosdep2

You can check this out into your workspace as follows:

cd <ws>/src
git clone https://github.com/cpeavy2/botvac_node.git
git clone https://github.com/cpeavy2/neato_robot.git
git clone https://github.com/kobuki-base/cmd_vel_mux.git
git clone https://github.com/kobuki-base/velocity_smoother.git
git clone -b foxy-devel https://github.com/ros-planning/navigation2.git
cd ..
rosdep update
rosdep install --from-paths src --ignore-src -r -y
echo 'source ~/<ws>/install/setup.bash' >> ~/.bashrc   # sources setup.bash
source ~/<ws>/install/setup.bash                       # sources setup.bash for current session
colcon build

Launch on RPi4

ros2 launch botvac_node botvac_base.launch.py

Launch on PC

ros2 launch nav2_bringup bringup_launch.py use_sim_time:=False autostart:=True map:=/home/user/ws/src/navigation2/nav2_bringup/bringup/maps/map.yaml slam:=True

Note: Load from directory on your workstation. Remove "slam:=True" to load saved map.

Run RViz2 on PC

ros2 launch nav2_bringup rviz_launch.py

Run Teleop on PC

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Drive the robot around to create map

Command to save map on PC

ros2 run nav2_map_server map_saver_cli -f ~/<ws>/src/navigation2/nav2_bringup/bringup/maps/map --ros-args -p save_map_timeout:=5000

Note: Save to directory on your workstation.

To load in map and navigate:

ros2 launch nav2_bringup bringup_launch.py use_sim_time:=False autostart:=True map:=/home/user/ws/src/navigation2/nav2_bringup/bringup/maps/map.yaml

Set the robot's pose. Select a target goal on the map and the robot will autonomously navigate there.