instruction file

This is the repository for navigation of a wheel robot, which should be run on remote Computer. Make sure that you have set up all necessary nodes on the wheel robot and has a WLAN to let them communicate with each other.

1. Prerequest

for bare metal version, your machine should better to have the same setup as:

Software	Version
Linux	Ubuntu 22.04 LTS
ROS2	Humble
Docker	-
Kubernetes(here k3s)	-

2. bare metal

all tasks are run with ROS_DOMAIN_ID=30, ensure to set environment variable like export ROS_DOMAIN_ID=30 before you want to check any topic information, otherwise you will get NOTHING useful from ros2 topic list.

1. navigation

# in ros2 workspace
colcon build
source install/setup.bash
ros2 launch car_nav navigation.launch.py # only lidar odometry and nav2 stack. you should make sure that there is another node that publish /scan(LaserScan), /odom(/Odometry)

2. slam

# in ros2 workspace
colcon build 
source install/setup.bash 
ros2 launch car_slam online_async_launch.py

3. containerized

make sure that you are accessable for registry

# in ros2 workspace
kubectl apply -f kube_config/navigation.yaml