limo_ros

This repository contains ROS packages for limo.

Packages

• limo_base: ROS wrapper for limo
• limo_bringup: launch and configuration files to start ROS nodes
• limo_description: URDF model for limo

Build from source code

1. Install YDLidar-SDK (Required Dependency)
   ydlidar_ros_driver depends on the YDLidar-SDK library.

   • If you haven’t installed it or have an outdated version:

     git clone https://github.com/YDLIDAR/YDLidar-SDK.git
     cd YDLidar-SDK
     # Follow the build instructions in the SDK's README.md:
     # https://github.com/YDLIDAR/YDLidar-SDK/blob/master/doc/howto/how_to_build_and_install.md

   • If you already have the latest SDK installed, skip to the next step.

2. Clone and build limo_ros and ydlidar_ros_driver:

   cd ~/catkin_ws/src
   git clone https://github.com/YDLIDAR/ydlidar_ros_driver.git
   git clone https://github.com/agilerobotics/limo_ros.git
   cd ~/catkin_ws
   catkin_make
   
   

Usage

• Start the base node for limo

  $ roslaunch limo_bringup limo_start.launch
  

• Start the keyboard teleop node

  $ roslaunch limo_bringup limo_teleop_keyboard.launch