Robot Package Template

This is a GitHub template made for the ITS Main Vehicle. You can make your own copy by clicking the green "Use this template" button or make a fork to your own repository. Or you can clone a copy of this repo into your local system.

0. Pre-requisite

0.1. System Requirements

• Ubuntu 22.04.
• ROS2 Humble.
• Laptop with 8GB Ram, 50GB Storage.

0.2. Install ROS2 and Related Softwares

1. Follow the guide below to install ROS2 Humble.

ROS 2 Install Guide: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html

2. Follow the guide below to install Gazebo Ignition Fortress.

Gazebo Ignition Fortress install: https://gazebosim.org/docs/fortress/install_ubuntu/

3. Follow the guide below to install Ros-Gazebo Pairing

ROS2 Gazebo Bridge: https://gazebosim.org/docs/fortress/ros_installation/

4. Follow the guide below to install Nav2:

NAV2: https://docs.nav2.org/getting_started/index.html
Note: We're using ROS2 humble distribution so when installing make sure use the command under "Iron and older"

0.3. Other Packages You May Need

sudo apt update
sudo apt install ros-humble-teleop-twist-keyboard
sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers
sudo apt install ros-humble-gz-ros2-control ros-humble-gz-ros2-control-demos

1. Simulation

1.1. Source ROS2 setup file

You need to run this command everytime you open up a new terminal

source /opt/ros/humble/setup.bash

Note: The common trick is copy this command to your ~/.bashrc file.

1.2. Build and Source the package

colcon build
source install/setup.bash

1.3. Launch Simulation

ros2 launch its_main_vehicle launch_sim.launch.py 

1.4. Manual Control

ros2 run teleop_twist_keyboard teleop_twist_keyboard \
  --ros-args -r /cmd_vel:=/diff_drive_base_controller/cmd_vel_unstamped