General Information 🌍

Write a few lines just to explain the project.

Installation 🛫

1. Clone the repository:

    git clone [email protected]:citros-garden/diffbot.git

2. open the repository in the VScode:

   cd ~/diffbot
   code .

3. open the repository in the container from VScode with reopen in container option.

Build 🚜

source and build:(no need?)

. /opt/ros/humble/setup.sh
colcon build --symlink-install
source install/local_setup.bash

Run 🚀

Run the launch file with the simulation on rviz:

ros2 launch ros2_control_demo_example_2 diffbot.launch.py 

if you want to controll it by yourself then run:

ros2 launch ros2_control_demo_example_2 diffbot_with_keyboard.launch.py 

Open a new terminal window and then run the following command:

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

Run the launch file without the simulation:

ros2 launch diffbot_bringup launch_diffbot.py

Check if the hardware interface loaded properly, by opening another terminal and executing

ros2 control list_hardware_interfaces

You should see that:

command interfaces
      left_wheel_joint/velocity [available] [claimed]
      right_wheel_joint/velocity [available] [claimed]
state interfaces
      left_wheel_joint/position
      left_wheel_joint/velocity
      right_wheel_joint/position
      right_wheel_joint/velocity

The [claimed] marker on command interfaces means that a controller has access to command DiffBot.

Check if controllers are running:

ros2 control list_controllers

You should get

diffbot_base_controller[diff_drive_controller/DiffDriveController] active
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active

view the robot on rviz:

1. in the terminal, cd to the project workspace. then build:

colcon build

and source :

source install/setup.bash

2. launch:(xml)

ros2 launch my_robot_description display.launch.xml

view the robot on gazebo:

ros2 launch my_robot_bringup my_robot_gazebo.launch.py