中文 | English

osrbot_dependency

A collection of ROS2 dependency packages for the OSR robot navigation system. This repository consolidates the key ROS2 components required to run the OSR robot, including a LiDAR driver, SLAM mapping, and a local path planner.

---

📦 Repository Structure

osrbot_dependency/
├── Lakibeam_ROS2_Driver/   # ROS2 driver for the LakiBeam series LiDAR
├── ros2_gmapping/          # GMapping SLAM adapted for ROS2
└── teb_local_planner/      # TEB local path planner (ROS2 Humble)
    ├── teb_local_planner/  # TEB core planning algorithm package
    ├── costmap_converter/  # Costmap conversion plugin package
    └── teb_msgs/           # TEB custom message package

---

🧩 Module Overview

1. Lakibeam_ROS2_Driver — LiDAR Driver

Source: RichbeamTechnology/Lakibeam_ROS2_Driver

The ROS2 driver for the LakiBeam LiDAR sensor, supporting the LakiBeam1 / LakiBeam1S / LakiBeam1L series. The driver parses point cloud data from incoming UDP packets and publishes it on the /scan (LaserScan) or /pcd (PointCloud2) topics.

Supported Environments:

• Ubuntu 20.04 + ROS2 Foxy
• Ubuntu 22.04 + ROS2 Humble

Key Configurable Parameters:

Parameter	Description
hostip	Target PC IP address (0.0.0.0 to listen on all interfaces)
port	Listening port number
inverted	Whether the sensor is mounted upside-down
angle_offset	Point cloud rotation offset around the Z-axis
scanfreq	Scan frequency (10/20/25/30 Hz)
scan_range_start/stop	Scan angle range (45°~315°)

Quick Start:

colcon build
source ./install/setup.bash
ros2 launch lakibeam1 lakibeam1_scan_view.launch.py

---

2. ros2_gmapping — SLAM Mapping

Reference: Project-MANAS/slam_gmapping

A ROS2 port of the classic OpenSLAM GMapping algorithm, with the following improvements over the original ROS2 adaptation:

• Dynamic parameter handling
• Bug fix for the map update frequency setting

Required Topics: /scan (LiDAR), /odom (Odometry)

Quick Start:

colcon build --packages-select openslam_gmapping slam_gmapping
source ./install/setup.bash
ros2 launch slam_gmapping slam_gmapping.launch.py

Key Configuration Parameters (slam_gmapping/params/slam_gmapping.yaml):

Parameter	Description
base_frame	Robot base frame
map_frame	Map frame
odom_frame	Odometry frame
use_sim_time	Enable simulated clock (set true in simulation environments)

---

3. teb_local_planner — TEB Local Planner

Adapted for: ROS2 Humble

A ROS2 Humble adaptation of the Timed Elastic Band (TEB) local path planner, integrated with the Nav2 framework. Contains three sub-packages:

3.1 teb_local_planner

Implements the core TEB planning algorithm as a Nav2 local planner plugin. Supports multiple kinematic models including differential-drive, omnidirectional, and Ackermann.

3.2 costmap_converter

A collection of costmap conversion plugins that transform occupied cells from costmap2d into geometric primitives (points, lines, polygons) for use by the TEB planner.

• License: BSD (some components depend on MultitargetTracker, which is GPLv3)

3.3 teb_msgs

Custom ROS2 message definitions for the TEB planner.

---

🚀 Building Everything

After cloning this repository into your ROS2 workspace, run:

cd ~/ros2_ws
# Place the contents of this repository under the src/ directory
colcon build
source ./install/setup.bash

---

🔧 System Dependencies

• ROS2 Humble (Ubuntu 22.04 recommended)
• nav2 navigation framework (required by teb_local_planner)
• pcl, pcl_conversions (required by the LiDAR driver)

---

📄 License

Each sub-package follows its original license agreement. Please refer to the LICENSE file within each subdirectory for details.