[ROS2] rclpy(foxy) osm_cartographer 운용

rclpy depdencies install

sudo apt install python3-sphinx python3-pip
sudo -H pip3 install sphinx_autodoc_typehints

geographic_msgs install & compile

cd ${your ros2 workspace}/src
git clone -b ros2 https://github.com/ros-geographic-info/geographic_info.git
cd ${your ros2 workspace}/src
cd geographic_info
colcon build --symlink-install
source install/setup.bash
cd ../../
colcon build --packages-select geographic_info
source install/setup.bash

osm_cartography install & compile

cd ${your ros2 workspace}/src/${your osm cartrographer workspace}/osm_cartography
sudo python3 setup.py install

route_network isntall & compile

cd ${your ros2 workspace}/src/${your osm cartrographer workspace}/route_network
sudo python3 setup.py install

osm_cartographer compile

cd ${your ros2 workspace}/src/${your osm cartrographer workspace}
colcon build --symlink-install
source install/setup.bash

geo_planner.launch.py map_url parameter 수정

map_url = os.path.join(get_package_share_directory("osm_cartography"), "${osm file 경로}", "osm file 이름.osm")

Rviz2 확인