Installation

Workspace Setup

After installing ROS2, create a fresh workspace and clone this repository:

mkdir -p ~/ros2/robotino_navigation_ws/src
cd ~/robotino_navigation_ws/src
git clone https://github.com/carologistics/robotino_navigation.git

Then create a workspace called "robotino_navigation_deps_ws" to install the packages for lidar interfaces and the robotino driver

mkdir -p ~/ros2/robotino_navigation_deps_ws/src
cd ~/robotino-navigation_deps_ws/src
vcs import < ~/robotino-navigation_ws/src/robotino_navigation/dependencies.repos

Building

After installation, build the dependency workspace first with the following sequence:

1. (Optional) To build dependencies for SICK-Laser sensors please refer to the instruction provided here under the subsection: Build sick_generic_caller.
2. Build the package "laser_scan_integrator":

cd ~/robotino-navigation_deps_ws
colcon build --packages-select laser_scan_integrator --symlink-install

3. (Optional) Build the robotino driver:

cd ~/robotino-navigation_deps_ws
colcon build --symlink-install

4. Now build the main workspace:

cd ~/robotino-navigation_ws
colcon build --symlink-install

Finally, make sure to source the workspaces before usage:

source /opt/ros/humble/setup.bash
source ~/robotino-navigation_deps_ws/install/setup.bash
source ~/robotino-navigation_ws/install/setup.bash