RTO-ROS 2

This repository contains code for packages that enable ROS 2 support for the Festo Robotino 3.

This repo is verified to work on a host laptop which had Ubuntu 20.04 LTS with ROS2 Foxy.

The original code was taken from dietriro's robotino repository and adapted for ROS2

Note: Not all functionality has been enabled. North Star support, BHA support, and gripper support have been disabled.

Installation instructions for Host PC

Go to [[https://wiki.openrobotino.org/index.php?title=Robotino_OS]] and download the .deb files provided under Ubuntu 20.04 for robotino-dev, rec-rpc, and robotino-api2
Install the .deb files
Clone this repo into a ros2 workspace
Do colcon build
Source the workspace
To bring up the robot, use ros2 launch rto_bringup_launch.py hostname:=<robotino ip address>
To launch RViz visualization, use ros2 launch rto_rviz_launch.py
Note: The robotino teleop package was not ported fully. To use keyboard teleop, run sudo apt-get install ros-${ROS_DISTRO}-teleop-twist-keyboard and then run ros2 run teleop_twist_keyboard teleop_twist_keyboard