Galactic devel

[chargerKong]

We only have one compact tianracer in hand, so the following upgrade is only for compact tianracer. And I believe that other types of tianracer could run with a small amount of modification.

Here is what we port to galactic

• tianracer_core.
• tianracer_bringup
• tianracer_description
• tianracer_slam
• tianracer_navigation
• tianracer_rviz

The portion of each package is not totally complete. The following is what I've mainly been confused about or the place that needs to be completed.

• tianracer_core. I've commented on the heart reset in Ackermann's callback. If not, something will be closed when reaching a goal and started when starting navigation
• L1_controller_v2 is not be used here. Since I don't know what it's used for
• Multi goal. It's implemented with action, Maybe it can be modified to implemented with topic,

And the tutorial of what we've made

SLAM

1. Launch the bringup first

   ros2 launch tianracer_bringup tianracer_bringup.launch.py
   

2. open the second terminal to launch cartographer or slam_toolbox

   ros2 launch tianracer_slam tianracer_cartographer.launch.py
   

   or

   ros2 launch tianracer_slam tianracer_slam_toolbox.launch.py
   

3. open the third to see rviz

   ros2 launch tianracer_rviz view_cartographer.launch.py
   

   or

   ros2 launch tianracer_rviz view_slam_toolbox.launch.launch.py
   

Navigation

1. Launch the bringup first

   ros2 launch tianracer_bringup tianracer_bringup.launch.py
   

2. Launch Nav2.

   ros2 launch tianracer_navigation tianracer_teb_nav.launch.py map:=path/to/your/map/file.yaml
   

3. Launch the rviz

   ros2 launch tianracer_rviz view_teb_planner.launch.py
   

4. Multi goal. Before launching this node, you should specify the goal pose to launch.py file

   ros2 launch tianracer_navigation tianracer_multi_goal.launch.py 
   

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