IRT Sensors Bring-Up Package

Author:

• Maximilian Nitsch maximilian.nitsch@rwth-aachen.de (Institute of Automatic Control - RWTH Aachen University)

Maintainer:

• Maximilian Nitsch maximilian.nitsch@rwth-aachen.de (Institute of Automatic Control - RWTH Aachen University)

Description

This project provides a ROS 2 package that launches the following navigation sensor ROS 2 nodes:

• IMU-Simulator
• Magnetometer-Simulator
• DVL-Simulator
• USBL-Simulator
• Depth-Pressure-Sensor-Simulator

Table of Contents

• Dependencies
• Installation
• Usage
• Coding Guidelines
• Contributing
• License

Dependencies

This project depends on the following literature and libraries:

• ROS 2 Humble: ROS 2 is a set of software libraries and tools for building robot applications: ROS 2 Installation page).

Installation

To install the sensors_bringup_package, you need to follow these steps:

1. Install ROS 2 Humble: Make sure you have ROS 2 (Humble) installed. You can follow the official installation instructions provided by ROS 2. Visit ROS 2 Humble Installation page for detailed installation instructions tailored to your platform.

2. Clone the Package: Clone the package repository to your ROS 2 workspace. If you don't have a ROS 2 workspace yet, you can create one using the following commands:

   mkdir -p /path/to/ros2_workspace/src
   cd /path/to/ros2_workspace/src

   Now, clone the package repository:

   git clone <repository_url>

   Replace <repository_url> with the URL of your package repository.

3. Build the Package: Once the package is cloned, you must build it using colcon, the default build system for ROS 2. Navigate to your ROS 2 workspace and run the following command:

   cd /path/to/ros2_workspace
   colcon build

   This command will build all the packages in your workspace, including the newly added package.

4. Source the Workspace: After building the package, you need to source your ROS 2 workspace to make the package available in your ROS 2 environment. Run the following command:

   source /path/to/ros2_workspace/install/setup.bash

   Replace /path/to/ros2_workspace with the actual path to your ROS 2 workspace.

That's it! Your sensors_bringup_package should now be installed along with its dependencies and ready to use in your ROS 2 environment.

Usage

1. Start the Sensors BringUp Package with the launch file:

   ros2 launch sensors_bringup_package sensor_simulators.launch.py

Coding Guidelines

This project follows these coding guidelines:

• https://google.github.io/styleguide/cppguide.html
• http://docs.ros.org/en/humble/The-ROS2-Project/Contributing/Code-Style-Language-Versions.html

Contributing

If you want to contribute to the project, see the CONTRIBUTING file for details.

License

This project is licensed under the BSD-3-Clause License. See the LICENSE file for details.