2025 ESDA Vehicle Simulation

1. Set up

1.1. Install Necessary Dependencies

1.2. Building the Project

• Please clone the repository into the src folder of your work space, your folder structure should look like this:

|_workspace_name
    |_src
        |_esda_simulation_2025

• When you are trying to build the project, please do it in the \workspace_name level. So the log, build and install folders are generated next to the src folder.

|_workspace_name
    |_src
        |_esda_simulation_2025
    |_install
    |_build
    |_log

• To source your local build into the current path, so it can be seen by ros2.

source install/setup.bash

2. Launching Project

2.1. Launch Simulator

ros2 launch esda_simulation_2025 launch_sim.launch.py

2.2. Teleop

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

2.3. Launch slam_toolbox (Mapping Mode)

ros2 launch slam_toolbox online_async_launch.py

2.4. Launch AMCL Localization + NAV2 (Navigation Mode)

ros2 launch esda_simulation_2025 localization_launch.py

ros2 launch esda_simulation_2025 navigation_launch.py use_sim_time:=true map_subscribe_transient_local:=true