A ROS2 workspace for labbot robot.

Based on https://ros2-industrial-workshop.readthedocs.io/en/latest/_source/navigation/ROS2-Turtlebot.html

1. Download turtlebot3.repos into workspace directory (it should containt at least src directory):

wget https://raw.githubusercontent.com/LRMPUT/labbot/ROS2-Humble/turtlebot3.repos

2. Get packages using vcstools:

vcs import src<turtlebot3.repos

3. Get dependiences using rosdep:

rosdep update
rosdep install --from-paths src --ignore-src  -y --rosdistro humble

4. Source the workspace:

• with the global ROS2 installation (only if building the workspace for the first time):

source /opt/ros/humble/setup.bash

• locally (otherwise):

source install/setup.bash

5. Install packages:

colcon build --symlink-install

thanks to --symlink-install changes made in python nodes will take effect without rebuilding the workspace.

Migration from http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom to https://navigation.ros.org/setup_guides/odom/setup_odom.html

• use ros2_control: "An alternative to manually publishing this information that we recommend is through the ros2_control framework. The ros2_control framework contains various packages for real-time control of robots in ROS 2."