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Introduction to Origin ROS Code Examples

CodeExamples

To help you kickstart your development with the Origin One, Avular provides a comprehensive set of ROS2 code examples available in a public repository. This repository can be copied as the src folder of a ROS2 workspace and contains various sample codes and tutorials that demonstrate how to interact with the Origin One using ROS 2 Humble. Some example are:

  • Acquire the position and velocity of the robot
  • Setting a reference velocity
  • Deriving the angle and distance of the object that is closest to the robot
  • Commanding the execution of GoTo behaviors
  • Setting the position of Aruco markers.

For more information and to get started with the Origin ROS code examples, visit the Origin ROS code examples repository.

Origin One ROS code examples

Info

Note that you may also combine the code examples with the user container. In that case you will need to clone the git repository into the src folder of the workspace directory and build it. You may do this by ssh into the robot and run

cd /data/user/containers/ws
mkdir src
cd src
git clone --branch main https://github.com/avular-robotics/example_origin_ros
cd ..
colcon build --symlink-install

Please note that you may need to select a different branch depending on your version of the Origin One