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theconstructai/turtlebot4-tf-utils

By theconstructai

•Updated about 2 years ago

Joins namespaced /tf into single /tf topic; publishes transform between base_link and lidar link.

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theconstructai/turtlebot4-tf-utils repository overview

⁠docker-compose.yaml

⁠Requirements:

  1. Robot namespace must exist, and it must be [NAME]_1, [NAME]_2, etc. For example, tbot4_1 or robot_1 or turtlebot4_1.
  2. Change the NAMESPACE and ROBOT_NUMBER environment variables accordingly.
  3. RRL service must be installed prior to running this container.
name: turtlebot4-tf-utils

services:
  turtlebot4-tf-utils:
    image: theconstructai/turtlebot4-tf-utils:latest
    privileged: true
    network_mode: host
    container_name: turtlebot4-tf-utils
    volumes:
      - /var/lib/theconstruct.rrl/cyclonedds.xml:/var/lib/theconstruct.rrl/cyclonedds.xml  # Only set if RRL service is installed in TurtleBot 4 RPi
    environment:
      - NAMESPACE=YOUR_NAMESPACE
      - ROBOT_NUMBER=1
      - LIDAR_TF=rplidar_link
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - CYCLONEDDS_URI=/var/lib/theconstruct.rrl/cyclonedds.xml  # Only set if RRL service is installed in TurtleBot 4 RPi
    entrypoint: /ros_entrypoint.sh
    command: ["/run_tf_utils.sh"]
    restart: always

Tag summary

Content type

Image

Digest

sha256:06a2bd087…

Size

219.4 MB

Last updated

about 2 years ago

docker pull theconstructai/turtlebot4-tf-utils