bosch_locator_bridge_utils

Utilities to use bosch_locator_bridge with Nav2

README

General information about this repository, including legal information and build instructions are given in README.md in the repository root.

bosch_locator_bridge_utils

Overview

This package provides utilities to use bosch_locator_bridge directly with Nav2. It provides the ROKIT Locator map as a grid map, and calculates the corresponding transformation from the localization poses.

The package has been tested under ROS 2 Humble and Ubuntu 22.04.

Quick Start

This section describes how to use this package to setup the localization part of Nav2.

Start the ROKIT Locator and the ROS Bridge

First of all, the ROKIT Locator and the corresponding ROS bridge must be started. Please see the README.md of the bosch_locator_bridge package for details.

ros2 launch bosch_locator_bridge bridge.launch.xml

Provide interface to Nav2

Then, start the locator_node and the locator_map_server nodes with

ros2 launch bosch_locator_bridge_utils localization_launch.py

From the localization poses, the locator_node node calculates and broadcasts the transformation between the map and the odom frame, which is required for a complete transformation tree for Nav2. The map_server node converts the point cloud map from the ROKIT Locator to a grid map, also needed by Nav2.

To see the map and the transformation tree, start RViz with

ros2 run rviz2 rviz2 -d $(ros2 pkg prefix bosch_locator_bridge_utils)/share/bosch_locator_bridge_utils/config/localization.rviz

Now everything is ready in terms of localization to start navigating…