spherorvr-ros2

Minimal implementation of a ROS2 node for the Sphero RVR robot. See hardware description at ROS2 Robot (Sphero RVR) with Localization, Navigation, AI, and a Thermal Imager.

Mapping

1. Reset RVR (on/off): this is necessary to reset internal Sphero odometry.
2. run ros2 run sphero sphero_node
3. run ros2 launch rplidar_ros rplidar.launch.py frame_id:=laser (ROS2 RP LIDAR node)
4. Start rviz2
5. run ros2 launch teleop_twist_joy teleop-launch.py joy_config:='ps3' (to move the rover around during mapping)
6. run ros2 launch mapping_slam_async_launch.py (start SLAMToolbox in mapping mode)

Start Navigation

1. Reset RVR (on/off): this is necessary to reset internal Sphero odometry.
2. run ros2 run sphero sphero_node
3. run ros2 launch rplidar_ros rplidar.launch.py frame_id:=laser (ROS2 RP LIDAR node)
4. Start rviz2 (otherwise it may lose the initial map)
5. run ros2 launch navigation_launch.py (start navigation2)
6. run ros2 launch localization_slam_async_launch.py (start SLAMToolbox localization)
7. run ros2 run sphero image_publisher (for publishing thermal and visible light images)