ROS2_seminar

This repository contains an example ros2 package quality 1 according to the Coresense project guidelines.

Install and building

Inside the src folder of your workspace execute the following commands:

$ git clone https://github.com/CoreSenseEU/ROS2_seminar.git
$ cd ..
$ vcs import . < ROS2_seminar/third_parties.repos
$ colcon build --symlink-install

Usage

on one terminal run:

$ ros2 launch tiago_gazebo tiago_gazebo.launch.py

now open a different terminal and execute the node:

$ ros2 run obstacle_detector obstacle_detector_main --ros-args -r input_scan:=/scan_raw

Nodes

• obstacle_detector
  • Publishers:
    • /obstacle_pose [geometry_msgs/msg/PointStamped]
  • Subscribers:
    • /input_scan [sensor_msgs/msg/LaserScan]

Acknowledgments