lanarvi

About

Main workspace for running the point cloud mapping in ROS2 on the CEOL. The main launch file is included in the ceol_bringup package (measurement.launch.py). In the current version, only the ceol_node and the SICK driver is launched,Point Cloud processing needs to be launched seperately.

Table of Contents

• About
• Requirements
• Installation
• Running the Measurment
• Running single Nodes

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Requirements

Setup with ROS2 Humble installation

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INSTALLATION

installation as a new catkin workspace

source ROS. Probably the command will look like this:

source /opt/ros/humble/install/setup.bash

clone the workspace

cd $(your_workspace_root_folder)
git clone https://github.com/ATB-potsdam-automation/lanarvi.git ./lanarvi_ws/

cd into the workspace

cd /lanarvi_ws

build the msgpack11 package for the sick-driver

colcon build --symlink-install --packages-select msgpack11

source the workspace

source install/setup.bash

build the rest of the workspace

colcon build --symlink-install

source the workspace again

source install/setup.bash

RUNNING THE MEASUREMENT

Running without pointcloud pipeline

ros2 launch ceol_bringup measurement.launch.py

Running with pointcloud pipeline

ros2 launch TODO TODO

launch the data playback of existing rosbags

ros2 launch TODO TODO

RUNNING TSINGLE NODES

run CCAN-communication with CEOL. This starts two nodes: socket_can_receiver and ceol_node

ros2 launch ros2_socketcan socket_can_receiver.launch.py && ros2 run ceol_base ceol_node