nav2_send_goal_rust

Overview

Action Clientを使用して、navigation2のAction Server（navigate_to_pose）に目標値を送るコードをRust（r2r）実装したものです。

Action

Name（Action Sever）	Type	Description
navigate_to_pose	nav2_msgs::action::NavigateToPose::Action	ある目標値を送り、結果を取得するためのaction

動作環境

• ROS 2 Humble
• r2r 0.7.0

How to use

ROS 2 Rust Install（ROS 2インストールされている前提）

./ros2_rust_install_script.sh 

Build & Install

mkdir catkin_ws/src -p
cd catkin_ws
git clone git@github.com:uhobeike/nav2_send_goal_rust.git src/nav2_send_goal_rust
git clone -b humble-devel git@github.com:ROBOTIS-GIT/turtlebot3.git src/turtlebot3
git clone -b humble-devel git@github.com:ROBOTIS-GIT/turtlebot3_msgs.git src/turtlebot3_msgs
git clone -b humble-devel git@github.com:ROBOTIS-GIT/turtlebot3_simulations.git src/turtlebot3_simulations
rosdep install -r -y --from-paths --ignore-src ./ 
source /opt/ros/humble/setup.bash
source $HOME/.cargo/env
colcon  build --symlink-install

Run

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True
ros2 run nav2_send_goal_rust nav2_send_goal_rust

Reference

sequenceplanner/r2r

tier4/safe_drive_tutorial