This ROS workspace for Eurobot includes localization and 2-D simulation (stage).

It works for computers and RPi 4.

Ubuntu 18.04 / ROS melodic

Ubuntu 20.04 / ROS noetic

HTTPS

git clone --recurse-submodules https://github.com/sunfu-chou/eurobot_ros_ws.git

1. navigation
2. costmap_converter
3. teb_local_planner
4. robot_localization

# WORKDIR . (root of the repo)
mkdir src/YDLidar-SDK/build
cd src/YDLidar-SDK/build
cmake ..
make
sudo make install

[NOT necessary]

You can discard changes after build and install by

# WORKDIR ./src/YDLidar-SDK/build
cd ..
git reset --hard
git clean -fd

sudo apt install -y \
ros-${ROS_DISTRO}-navigation \
ros-${ROS_DISTRO}-costmap-converter \
ros-${ROS_DISTRO}-teb-local-planner \
ros-${ROS_DISTRO}-robot-localization

# WORKDIR . (root of the repo)
catkin_make

chmod +x ./rename_RPI_USB_ports.sh
sudo ./rename_RPI_USB_ports.sh

roslaunch eurobot lidar_G6.launch

Don't need to launch lidar before localization

Topic odom is needed

1. Launch rosserial, rx_to_odom, etc. on Raspberry Pi to publish odom
2. Launch fake_odom

roslaunch fake_odom fake_odom.launch

roslaunch eurobot localization.launch

Including lidar_G6, localization, ekf