dsr_bringup2
Feature
- Configure various robot environment through dsr_bringup2.
- The user can build Single Robot, Multi Robot environment according to Paramater.
- Multi Robot configuration is an extension of Single Robot configuration. To configure according to your environment using a Multi Robot environment, you must correctly enter parameters such as name, host, port, and model during the process of running the dsr_bringup2_spawn_on_gazebo.launch.py file. (name:=dsr01 host:=127.0.0.1 port:=12345 model:=m1509)
- After loading dsr_bringup2, run dsr_example2 for each environment with ros2 run.
(For details, see Chapter 6, dsr_example2.)
Parameter
| Parameter Name | Data type | Default Value | Description |
|---|---|---|---|
name | - | dsr01 | ROBOT name space . single robot : dsr01 . multi robot: dsr01, dsr02, dsr03, dsr04 … |
host | - | 127.0.0.1 | Robot controller IP . Emulator : 127.0.0.1 . Real robot controller : 192.168.137.100 |
port | - | 12345 | port |
mode | - | virtual | Robot operation mode - virtual : virtual mode - real : real mode |
model | - | m1013 | M-Series Robot model . m0609, m0617, m1013, m1509 A-Series Robot model . a0509, a0912 E-Series Robot model . e0509 H-Series Robot model . h2017, h2515 |
color | - | white | Robot color . white or blue |
Examples
BASH
<single robot>
- rviz, virtual mode, m1509(white)
$ ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=virtual host:=127.0.0.1 port:=12345 name:=dsr01 model:=m1509
- gazebo, virtual mode, h2515(blue)
$ ros2 launch dsr_bringup2 dsr_bringup2_gazebo.launch.py mode:=virtual host:=127.0.0.1 port:=12345 name:=dsr01 model:=h2515 color:=blue
- rviz + gazebo, virtual mode, a0509(blue)
$ ros2 launch dsr_bringup2 dsr_bringup2_gazebo.launch.py mode:=virtual host:=127.0.0.1 port:=12345 name:=dsr01 model:=a0509 color:=blue gui:=true
- rviz + gazebo, real mode, m1013(white)
$ ros2 launch dsr_bringup2 dsr_bringup2_gazebo.launch.py mode:=real host:=192.168.137.100 port:=12345 name:=dsr01 model:=m1013 color:=white gui:=true
<multi robot(using two terminals)>
- gazebo, virtual mode, m1013(white), h2515(blue)
$ ros2 launch dsr_bringup2 dsr_bringup2_gazebo.launch.py mode:=virtual host:=127.0.0.1 port:=12345 name:=dsr01 model:=m1013 x:=0 y:=0 color:=white
$ ros2 launch dsr_bringup2 dsr_bringup2_spawn_on_gazebo.launch.py mode:=virtual host:=127.0.0.1 port:=12346 name:=dsr02 model:=h2515 x:=0 y:=2 color:=blue