Maps

Note

This page is under active development.

This package homes the details for maps.

Package Structure

• maps_control

  (future work) will contain the control files for the maps.

• maps_description

  • launch

    maps_bringup.launch: contains launch file to start the robot_state_publisher for the maps.

    maps_double.launch: launches full maps system.

    maps_double.launch: launch half maps system.

  • meshes

    contains mesh files for the maps components.

  • urdf

    contains the URDF files for the maps system.

  • rviz

    contains the rviz config file.

• maps_gazebo

  • launch

    contains the launch file to start gazebo and rviz, adding the maps system.

    maps_double_gazebo.launch.xml: launches the full maps system.

    maps_single_gazebo.launch.xml: launches half the maps system.

  • worlds

    contains world file for gazebo.

Running the Maps System

1. Build the packages colcon build

2. source install/setup.bash

3. Launch rviz with the maps system ros2 launch maps_gazebo maps_double_gazebo.launch.xml

See below for example output.

Rviz window after: ros2 launch maps_gazebo maps_double_gazebo.launch.xml

Gazebo window after: ros2 launch maps_gazebo maps_double_gazebo.launch.xml

It is possible to move the maps joints using the Joint State Publisher gui.