This repository is "forked" from the public repo: [boschglobal/locator_ros_bridge]. Since there are too many branches in the original repo, I isolated one of the versions that I have currently been working on. This repository is for "Ubuntu 18.04 & Ubuntu 20.04". The base commit in the original repository can be checked out as follows:

git checkout 1.0.4 -b noetic-v1.3

The locator being used in this repo is of version 1.3. The added functionalities are as follows:

• Offline mapping trajectory can be output (to files). After Building map from visual recording, trajectory saving function will be called during the exit of ros process. The output trajectory is denser than PoseArray, and is the result after pose graph optimization and loop closure.
• Localization trajectory can be output (to files).
• Automatic evaluation scripts.

The README content in the original repo is listed as follows.

This repository contains the bosch_locator_bridge package, which provides a ROS interface to the Rexroth ROKIT Locator. It translates ROS messages to the ROKIT Locator API (as described in the ROKIT Locator API documentation) and vice versa. It also allows to control the ROKIT Locator via ROS service calls.

There are versions for the following ROS 1 and ROS 2 distributions:

• ROS 1: Noetic (this branch, will likely also work on Melodic)
• ROS 2: Foxy (branch foxy), Rolling (branch main, will likely also work on Galactic)

The following video (click on image) gives more information about the Rexroth ROKIT Locator.

You can install the bosch_locator_bridge package directly:

sudo apt install ros-noetic-bosch-locator-bridge

• ROS
• Poco C++ library (Should be installed automatically with ROS, otherwise try: sudo apt install libpoco-dev)

To build from source, make sure your catkin workspace is set up correctly. Then clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_ws
rosdep install --from-paths . --ignore-src
catkin_make

To get started, take a look at the README.md of the bosch_locator_bridge package.

locator_ros_bridge is open-sourced under the Apache-2.0 license. See the LICENSE file for details.