wolf_ros2_node

You can get this package in a few simple steps detailed below.

Important

This package is mandatory if you want to use WOLF in ROS2.

1. Required WOLF plugins

This package depends on WOLF core.

2. Required ROS2 packages

• OPTIONAL: If apriltag-msgs package is found, the SubscriberApriltag will be compiled, handling tag relative pose detections. You may want to install the apriltag-ros package via apt:

  sudo apt install ros-${ROS_DISTRO}-apriltag-ros
  

3. Clone package

Clone in the desired ROS2 workspace:

cd $ROS2_WS/src
git clone -b main https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_ros2/wolf_ros2_node.git

Note

If WOLF is installed in a local folder (see local installation), the variables CMAKE_PREFIX_PATH and LD_LIBRARY_PATH must be set in the terminal where you run colcon build, ros2 run and ros2 launch (e.g. in your ~/.bashrc). Nothing else changes.

Compile it with colcon build:

cd $ROS2_WS
colcon build --symlink-install --packages-up-to wolf_ros2_node