Configuration-based ROS2 package for sending MassRobotics AMR Interop Standard messages to compliant receivers.

The node is available as a released package and can be added manually to your ROS2 build installation running the following command:

$ sudo apt-get install ros-foxy-massrobotics-amr-sender

Alternatively, you can add the package as a rosdep dependency and then install it running rosdep update

Make sure ros2 is installed properly. Then clone this repository inside your src folder on your local workspace and build the package executing the following commands:

# Create a ROS2 workspace and go into it - if you don't have one already
mkdir -p ~/ros2_ws/src && cd ros2_ws/
# Clone the repo inside the workspace
git clone https://github.com/inorbit-ai/ros_amr_interop.git ./src
# Install dependencies
rosdep update && rosdep install --ignore-src --from-paths src/
# Run the build
colcon build --packages-select massrobotics_amr_sender

A configuration file must be provided to define how ROS2 messages are mapped to different AMR Interop Standard messages. A sample_config.yaml is provided for reference.

The node takes the MassRobotics AMR config file path as parameter. If not provided, it is assumed the file is on the current directory.

# Remember to source the ROS2 environment from the binary installation or your workspace overlay
source install/setup.bash
# Launch the node pointing to your configuration file
ros2 launch massrobotics_amr_sender massrobotics_amr_sender.launch.py config_file:=/path/to/config.yaml

On you local workspace:

colcon test --packages-select massrobotics_amr_sender
colcon test-result --verbose