OpenRR Mobile

Mobile robot controller using OpenRR

Binary apps list

Binary name	File name	Description	Remarks
teleop	teleoperation.rs	Control robot using gamepad.	features ros (optional)
auto	automation.rs	Robot does random walk.	features ros or ros2 (optional)
uviz_teleop	urdf_viz_teleoperation.rs	Same as teleop but only for urdf-viz.
uviz_auto	urdf_viz_automation.rs	Same as auto but only for urdf-viz.
ros_teleop	ros_teleoperation.rs	Same as teleop but only for ROS.	features ros (required)
ros_auto	ros_automation.rs	Same as auto but only for ROS.	features ros (required)
ros2_auto	ros2_automation.rs	Same as auto but only for ROS2.	features ros2 (required)

Build and Run

cargo run --bin <Binary name> [optional features]

Example (urdf-viz)

If current directory is openrr.

urdf-viz ./openrr-planner/sample.urdf &
cargo run --bin {teleop / auto / uviz_teleop / uviz_auto}

If you have used a Turtlebot3.

urdf-viz $(rospack find turtlebot3_description)/urdf/turtlebot3_burger.urdf.xacro &
cargo run --bin {teleop / auto / uviz_teleop / uviz_auto}

Example (ROS)

Open new terminal

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

rosrun joy joy_node

cargo run --features ros --bin {teleop / auto / ros_teleop / ros_auto}

Example (ROS2)

ros2 launch turtlebot3_gazebo empty_world.launch.py

cargo run --features ros2 --bin {auto / ros2_auto}