pioneer_ros2 is a ROS 2 stack designed for MobileRobots Pioneer robots that utilize the Aria / AriaCoda framework, including models such as Pioneer 2, Pioneer 2-DX, Pioneer 2-AT, Pioneer 3, Pioneer 3-DX, Pioneer 3-AT, etc. This stack comprises several packages, each serving a unique purpose:
- pioneer_common: This package provides common functionalities for the pioneer stack.
- pioneer_core: This package provides the abstract interface (virtual base classes) for the Pioneer Modules.
- pioneer_aria: This is the main node that interfaces with the Aria framework.
- pioneer_modules: This package contains the implementations of the Pioneer modules such as
drive,charger, etc. - pioneer_msgs: This package contains messages and services related to the MobileRobots Pioneer robot base.
- Robot Operating System (ROS) 2 (middleware for robotics)
- AriaCoda (MobileRobots Pioneer middleware for robotic applications)
To build from source, clone the latest version from this repository into your colcon workspace and compile the package using the following command:
cd colcon_workspace/src
git clone https://github.com/grupo-avispa/pioneer_ros2.git
cd ../
rosdep install -i --from-path src --rosdistro jazzy -y
colcon build --symlink-install