This contains instructions to launch
- Hesai Lidar
- ArduXXX RTK GNSS
- Intel RealSense
- OrbSLAM3
- ROSBridge
- Husky controller
Two terminals reserved for ROS Bridge
Terminal A: (Inside humble_noetic_rosbridge_docker)
# First source ROS1
# source ${ROS1_INSTALL_PATH}/setup.bash
source ros_noetic_base_2204/catkin_ws/devel/setup.bash
roscore
Terminal B: (Inside humble_noetic_rosbridge_docker)
Build rosbridge package Source ros2_ws/install/setup.bash
source ros2_ws/install/setup.bash
Build the ros2 workspace with the ros1_bridge package
# Takes more than 5 minutes
colon build
# First source ROS1
#source ${ROS1_INSTALL_PATH}/setup.bash
source ros_noetic_base_2204/catkin_ws/devel/setup.bash
# Source ROS2
# source ${ROS2_INSTALL_PATH}/setup.bash
source ros2_ws/install/setup.bash
# Bridge all topics both ways
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
Terminal C for launch ROS1 - Hesai Lidar Sensor (Inside Hesai Docker)
make launch_hesai_lidar_alfredo
Terminal D for Visualizing exchange of topics between ROS1 and ROS2 Launch RVIZ from any container or host machine (ROS1 or ROS2 version)
make enter
source /opt/ros/noetic/setup.bash
rviz
Set global frame as "PandarXT-32" in the RViz