This repository provides a head start for mobile robot development when using the development kit from Weston Robot.
The code contained in this repository is meant to be used as a reference for integrating Weston Robot's hardware with ROS2's Navigation2 stack. It includes sample launch files for bringing up the robot, running SLAM, and navigation applications.
Code is provided as-is and may require modifications to work with your specific hardware configuration.
The following hardware configurations are supported:
| Name | Documentation | Source Code |
|---|---|---|
| UGV Development Kit V1.1 | wiki | ugv_devkit_bringup |
| Sensor kit | Mount Location | Documentation | Source Code |
|---|---|---|---|
| Livox Mid360 Lidar + IMU | Top | docs | mid360_sensor_kit_bringup |
| Vision | Top | docs | vision_sensor_kit_bringup |
| W200D Ultrasonic Sensors | Base | TBD | w200d_sensor_kit_bringup |
| Base | Documentation |
|---|---|
| Ranger Mini 2.0 | wiki |
| Ranger Mini 3.0 | wiki |
| Scout Mini | wiki |
Note: Robot bases are used for testing and development purposes only. Other robot bases should also be compatible with the provided chassis and sensor kits.
| Operating System | Framework |
|---|---|
| Ubuntu 22.04 | ROS2 Humble |
Please refer to the installation guide for detailed instructions on setting up your development environment.
Please refer to the running guide for detailed instructions on running the sample applications.
For more detailed instructions on running the different launch files and arguments, refer to the README file in wr_devkit_bringup. For a more detailed guide please refer to our documentation site. It describes the overview, hardware, software, and software setup.
