Level Up Your Mobile Robots. Rexroth ROKIT Locator – Your Easy-to-Use Laser Localization Software
This repository contains the bosch_locator_bridge package, which provides a ROS interface to the Rexroth ROKIT Locator. It translates ROS messages to the ROKIT Locator API (as described in the ROKIT Locator API documentation) and vice versa. It also allows to control the ROKIT Locator via ROS service calls.
There are versions for the following ROS 1 and ROS 2 distributions:
- ROS 1: Noetic (branch noetic, will likely also work on Melodic) - EOL
- ROS 2: Humble (this branch, will likely also work on Galactic)
The repository also contains the bosch_locator_bridge_utils package, which provides an interface between the bosch_locator_bridge and Nav2, the navigation stack of ROS 2.
The following video (click on image) gives more information about the ROKIT Locator.
You can install the bosch_locator_bridge package directly:
sudo apt install ros-humble-bosch-locator-bridge
Note that the installed package may contain an older software version, which corresponds to the latest tag 2.1.x here: tags. Since the release of a package can take a while, the installed package may even be from an earlier tag. To be sure, check the version of the installed package as follows:
apt show ros-humble-bosch-locator-bridge
- ROS
- Poco C++ library (Should be installed automatically with rosdep, otherwise try:
sudo apt install libpoco-dev)
To build from source, make sure your colcon workspace is set up correctly. Then clone the latest version of this branch from the repository into your colcon workspace and compile the package using
cd colcon_ws
rosdep install --from-paths . --ignore-src
colcon build --symlink-install
To get started, take a look at the README.md of the bosch_locator_bridge package. And for the bosch_locator_bridge_utils package, please have a look at README.md.
locator_ros_bridge is open-sourced under the Apache-2.0 license. See the LICENSE file for details.