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Tinker Navigation Setup

This doc is used for Tinker Navigation setup. Make sure you have finished the ros2-humble installation and the ros2_control setup in this doc.

Install nav2 stack​

sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringup
sudo apt install ros-humble-robot-localization
sudo apt install ros-humble-slam-toolbox

Setup Chassis​

Clone tk23_navigation:

git clone git@github.com:tinkerfuroc/tk23_navigation.git

Make sure USB_CAN is connected, then

sudo ./setupcan.sh

Then launch chassis:

./chassis_bringup.sh

You can now use keyboard to control the chassis

Setup Lidar​

Tinker uses Livox-Mid360 now.

  1. Config livox-SDK2: 
     git clone https://github.com/Livox-SDK/Livox-SDK2.git
     cd ./Livox-SDK2/
     mkdir build
     cd build
     cmake .. && make -j
     sudo make install
  2. Livox Driver: the official driver config can be found here. We have put the driver into tk23_navigation package and the user don't need to config driver addtionally.
  3. Setup pointcloud2laserscan: Tinker navigation uses 2D laser scan from 3D pointcloud for mapping. install: 
    sudo apt install ros-humble-pointcloud-to-laserscan
  4. Test lidar: Go to tk23_navigation, run 
    ./chassis_lidar_bringup.sh
    You should see pointcloud in rviz2.

Setup Map​

To setup a map, go to tk23_navigation, run:

ros2 launch tinker_nav_bringup tinker_slam.launch.py

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