bitor_stack

ROS2 stack for the Bitor robot. Contains the following packages:

• bitor_description — URDF/xacro robot description, meshes, and RViz config
• bitor_bringup — Launch files and controller configuration for ros2_control

Requirements

• ROS2 Humble
• ros2_control
• joint_state_broadcaster
• forward_command_controller
• joint_state_publisher_gui
• robot_state_publisher
• xacro

Installation

1. Clone the repository

mkdir -p ~/your_ws/src
cd ~/your_ws/src
git clone git@github.com:CRTA-Lab/bitor_stack.git

2. Build the workspace

cd ~/your_ws
colcon build

3. Source the workspace

source ~/your_ws/install/setup.bash

Usage

Visualize the robot (RViz + joint_state_publisher_gui)

ros2 launch bitor_description view_bitor.launch.py

Launch mock system with ros2_control

ros2 launch bitor_bringup bitor_mock.launch.py

Send position commands to the forward command controller

ros2 topic pub --once /forward_command_controller/commands std_msgs/msg/Float64MultiArray "data: [0.3, 0.3]"

Joint order: [left_carriage_joint, right_carriage_joint] Position limits: 0.0 to 0.5 meters