mercury_ros2

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Mercury ROS2 package

Notes:

• Supported ROS2 versions:
  • Ubuntu 20.04 / ROS2 Galactic - branch galactic

Installation

1.1 Pre-Requriements

For using this package, the Python api library should be installed first.

pip install pymycobot --user

Before installing the package, you need to create a ros workspace.

mkdir -p ~/colcon_ws/src  # Create folder

Add a workspace environment

$ echo "source ~/colcon_ws/install/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

1.2 Package Download and Install

Install ros package in your src folder of your Colcon workspace.

$ cd ~/colcon_ws/src
$ git clone --depth 1 https://github.com/elephantrobotics/mercury_ros2.git
$ cd ~/colcon_ws
$ colcon build
$ source install/setup.bash

Run

Here we take Mercury A1 as an example

1 test

ros2 launch merury_a1 test.launch.py

2 slider control

ros2 launch mercury_a1 slider_control.launch.py

3 model follow

ros2 launch mercury_a1 mercury_follow.launch.py

4 GUI control

ros2 launch mercury_a1 simple_gui.launch.py

5 keyboard control

ros2 launch mercury_a1 teleop_keyboard.launch.py

ros2 run mercury_a1 teleop_keyboard

URDF Model Graph

Mercury A1

Mercury B1