vikings_bot_gazebo

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Description

This package contains vikings_bot project gazebo related files - worlds, models, launch files, etc.

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Installation

Download source and install dependencies:

cd <path/to/your/ros_ws>
git clone git@github.com:Hercogs/vikings_bot_gazebo.git src/vikings_bot_gazebo
rosdep update
rosdep install --ignore-src --default-yes --from-path src

Build package:

colcon build
source install/setup.bash

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Usage

To start Gazebo world: ros2 launch vikings_bot_gazebo start_world.launch.py

To spawn robot in Gazebo world: ros2 launch vikings_bot_gazebo spawn.launch.xml

To spawn 2 robots in Gazebo world: ros2 launch vikings_bot_gazebo spawn_two_robots.launch.xml

To run first robot: ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=vikings_bot_1/cmd_vel

To run second robot: ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=vikings_bot_1/cmd_vel