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CoRE1-2024-main

Bringup and configuration for CoRE-1 2024 Automatic robot

build

mkdir -p ~/ws_2024/src
cd ~/ws_2024/

wget https://raw.githubusercontent.com/StrayedCats/CoRE-1.env/main/repos/core1_2024auto.repos
vcs import ./src < ./core1_2024auto.repos

source /opt/ros/humble/setup.bash
colcon build --executor sequential --symlink-install

Bringup

rosbag + detector

ROSBAG=/home/core2024/rosbag2_2024_02_25-03_32_06

source ~/ws_2024/install/setup.bash
ros2 launch core1_2024_bringup main.launch.py use_rosbag:=True rosbag_dir:=${ROSBAG} use_viewer:=True use_core1_hardware:=False

Options

  • use_core1_hardware : Use CoRE-1 hardware or not
  • use_rosbag : Use rosbag or not (If enable, please set use_core1_hardware to False)
  • use_viewer : use debug OpenCV window or not
  • rosbag_dir : rosbag directory path
  • use_apriltag : use apriltag detector or not