ORION Tools

Additional tools you can integrate with ORION robot, for example, SLAM, Autonomous Navigation and Teleoperation.

📝 License

The source code is released under a BSD 3 Clause license

Current fork maintened by: Daniel Felipe López Escobar.

Originally developed by: Daniel Felipe López Escobar, Miguel Ángel Gonzalez Rodriguez, and Alejandro Bermúdez Fajardo.

The ORION Tools packages have been tested under ROS Jazzy distribution.

📚 Table of contents

• 📦 Repository Summary
• 📥 Installation

📦 Repository Summary

This repository contains the next ROS 2 packages:

• 🧭orion_navigation🗺️ Simple implementation of the Nav2 Toolkit with ORION for autonomous navigation.
• 🗺️orion_slam📡 Integration of SLAM (with slam_toolbox and cartographer) for ORION robot.
• 🎮orion_teleop🕹️ Implementation of stamped teleoperation with keyboard or Xbox Controller for the ORION robot.

🗺️ SLAM Toolbox	🗺️ Cartographer	🧭 Nav2
🎮 Joystick	⌨️ Keyboard

📥 Installation

Follow the next step to use these packages:

1. Complete the installation of orion_commons.

2. (Optional) Install the simulation package for the robot on orion_gz.

3. Clone this repository:

   cd ~/ros2_ws/src
   git clone https://github.com/Tesis-ORION/orion_tools

4. Install dependencies:

   sudo apt update
   sudo apt install python3-rosdep -y
   cd ~/ros2_ws
   sudo rosdep init  # Only needed once per system; skip if already initialized
   rosdep update
   rosdep install --from-paths src --ignore-src -r -y

5. Compile and build:

   cd ~/ros2_ws
   colcon build --packages-select orion_navigation orion_slam orion_teleop
   source install/setup.bash

6. You are ready to use the packages.