bcr_bot

bcr_bot

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README

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. ROS2 versions also include Nav2 and SLAM Tool Box support. Currently, the project supports the following combinations -

Each of the following sections describes depedencies, build and run instructions for the combinations supported by the ros2-jazzy branch.

Jazzy + Harmonic (Ubuntu 24.04)

Dependencies

Install Gazebo harmonic using ROS2 binaries:

sudo apt install ros-jazzy-ros-gz-sim ros-jazzy-ros-gz-bridge ros-jazzy-ros-gz-interfaces

Install other dependencies with rosdep.

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Build

colcon build --packages-select bcr_bot

Run

To launch the robot in Gazebo,

ros2 launch bcr_bot gz.launch.py

To view in rviz,

ros2 launch bcr_bot rviz.launch.py

Configuration

The launch file accepts multiple launch arguments,

ros2 launch bcr_bot gz.launch.py \
        camera_enabled:=True \
        stereo_camera_enabled:=False \
        two_d_lidar_enabled:=True \
        position_x:=0.0 \
        position_y:=0.0  \
        orientation_yaw:=0.0 \
        odometry_source:=world \
        world_file:=small_warehouse.sdf

Jazzy + Isaac Sim (Ubuntu 24.04)

Dependencies

In addition to ROS2 Humble Isaac Sim installation with ROS2 extension is required. Remainder of bcr_bot specific dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Build

colcon build --packages-select bcr_bot

Run

To launch the robot in Isaac Sim:

Open Isaac Sim and load the warehouse_scene.usd or scene.usd from here.
Add in extra viewports for different camera views.
Start the Simulation: Run the simulation directly within Isaac Sim.
The following USDs are included in the package: - warehouse_scene.usd - Warehouse scene with a robot. - scene.usd - Scene with a robot in a empty world. - bcr_bot.usd - Robot model that can be imported into any scene. - ActionGraphFull.usd - Action graph for the robot to publish all the required topics.

To view in rviz:

ros2 launch bcr_bot rviz.launch.py

NOTE: The command to run mapping and navigation is common between all versions of gazebo and Isaac sim see here.

Mapping with SLAM Toolbox

SLAM Toolbox is an open-source package designed to map the environment using laser scans and odometry, generating a map for autonomous navigation.

NOTE: The command to run mapping is common between all versions of gazebo.

To start mapping:

ros2 launch bcr_bot mapping.launch.py

Use the teleop twist keyboard to control the robot and map the area:

ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/bcr_bot/cmd_vel

To save the map:

cd src/bcr_bot/config
ros2 run nav2_map_server map_saver_cli -f bcr_map

Using Nav2 with bcr_bot

Nav2 is an open-source navigation package that enables a robot to navigate through an environment easily. It takes laser scan and odometry data, along with the map of the environment, as inputs.

NOTE: The command to run navigation is common between all versions of gazebo and Isaac sim.

To run Nav2 on bcr_bot:

ros2 launch bcr_bot nav2.launch.py

Simulation and Visualization

Gz Sim (Ignition Gazebo) (small_warehouse World):
Isaac Sim:
Rviz (Depth camera) (small_warehouse World):