Spes Robotics autonomy packages, software infrastructure, and hardware platform.
You can install as a typical ROS workspace, but we highly recommend using Docker:
# Install Docker (and other dependencies)
sudo apt install git make curl
curl https://get.docker.com | sh && sudo systemctl --now enable docker
# Clone the repo
git clone https://github.com/SpesRobotics/spes_autonomy.git $HOME/spes_autonomy
# Build and run the Docker image (only once)
make -f $HOME/spes_autonomy/docker/Makefile build-pc run
# Attach to a terminal
make -f $HOME/spes_autonomy/docker/Makefile execVisual servoing with latency compensation:
ros2 launch spes_tests test_move_latency_compensation_launch.pySLAM & Navigation:
# Create a map
ros2 launch nav2_bringup slam_launch.py
rviz2
# Save the map
ros2 run nav2_map_server map_saver_cli -f /spesbot/assets/map
# Navigate
ros2 launch nav2_bringup bringup_launch.py map:=/spesbot/assets/map.yaml
ros2 launch nav2_bringup rviz_launch.py