Jordan Workshop

This guide walks you through setting up, installing, and running the packages in this workspace.

Prerequisites

• Ubuntu 22.04 or 24.04
• ROS 2 Jazzy or Humble
• Gazebo Sim Ionic or Harmonic

Install ROS 2 Jazzy

cd jordan_workshop/scripts
./install_ros2_jazzy.sh

Install Gazebo Sim Harmonic

cd jordan_workshop/scripts
./install_gazebo_sim_harmonic.sh

Automated Workspace Setup

To automatically set up the workspace and install all required dependencies, run:

cd jordan_workshop/scripts
./setup.sh

Manual Setup Instructions

1. Clone the Repository

Clone the repository from GitHub:

git clone https://github.com/khaledgabr77/jordan_workshop

2. Build the Workspace

Navigate to the workspace and build the project:

colcon build
source install/setup.bash

3. Set Environment Variables

Set the necessary environment variable so that Gazebo (Ignition/GZ) can locate the simulation resources:

export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:~/jordan_workshop/src

Note: Replace ~/jordan_workshop/src with the absolute path to the src directory of your workspace if it's located elsewhere.

---

Package Usage

Below are instructions for launching simulations and running various ROS 2 nodes in this workspace.

1. Launching the Petra Robot Simulation

There are multiple launch files available, each providing different configurations for the Petra Robot:

1. SDF Simulation:

   ros2 launch petra_robot petra_sim.launch.py

2. URDF Simulation:

   ros2 launch petra_robot petra_urdf.launch.py

   Note: There are several URDF launch files available in the petra_robot package, such as petra_urdf_v1.launch.py, petra_urdf_v3.launch.py, and so on. Each file provides a different robot configuration.

3. SLAM Simulation:

   ros2 launch petra_robot mapping.launch.py

4. Localization Simulation:

   ros2 launch petra_robot localization.launch.py

5. Navigation Simulation:

   ros2 launch petra_robot navigation.launch.py

---

2. Running the Publisher and Subscriber Nodes

Use the following commands to run publisher and subscriber nodes from the C++ and Python pub/sub packages:

• C++ (cpp_pub_sub_pkg):

  ros2 run cpp_pub_sub_pkg publisher_hello_ros
  ros2 run cpp_pub_sub_pkg subscriber_hello_ros

• Python (py_pub_sub_pkg):

  ros2 run py_pub_sub_pkg publisher_hello_ros
  ros2 run py_pub_sub_pkg subscriber_hello_ros

---

3. Running the Client and Server Services

The py_service_pkg package includes a client and server:

ros2 run py_service_pkg py_service_server
ros2 run py_service_pkg py_service_client

Note: The cpp_interface_pkg contains the custom service definition (srv message) used by the service nodes.

---

4. Running Launch Files

Several launch files are provided to simplify running multiple nodes simultaneously or to configure simulations.

1. C++ Publisher/Subscriber:

   ros2 launch cpp_pub_sub_pkg cpp_pub_sub.launch.py

2. Turtlesim Launch (C++):

   ros2 launch cpp_launch_pkg cpp_launch_file.launch.py

3. Turtlesim Launch (Python):

   ros2 launch py_launch_pkg my_first_launch_file.launch.py

4. Turtlesim Remapping:

   ros2 launch py_launch_pkg remapping_turtle.launch.py

---

5. Running Parameter Nodes

To run Python nodes that use parameters (in the py_parameters_pkg):

1. Parameter Nodes:

   ros2 run py_parameters_pkg my_parameter
   ros2 run py_parameters_pkg py_param

2. Launch File with Parameters:

   ros2 launch py_parameters_pkg publisher_param.launch.py

---

6. Running TF2 Nodes

To work with TF2 (transforms) using py_tf2_pkg:

1. Static Broadcaster:

   ros2 run py_tf2_pkg static_broadcaster.py

2. Static Listener:

   ros2 run py_tf2_pkg tf_listener.py

3. Dynamic Broadcaster:

   ros2 run py_tf2_pkg dynamic_transform_broadcaster.py

4. Pose Estimation (turtle2 w.r.t. turtle1):

   ros2 run py_tf2_pkg turtle_tf2_pose.py

5. Turtle Follower:

   ros2 run py_tf2_pkg turtle_tf2_follower.py

---

7. Running the Mogi Trajectory Server

To start the Mogi Trajectory Server:

ros2 run mogi_trajectory_server mogi_trajectory_server

---

8. Running the Yahboomcar Simulation

To launch the Yahboomcar simulation in yahboomcar_description:

ros2 launch yahboomcar_description robot_sim.launch.py

---

Additional Information

• Ensure all dependencies are installed correctly before running any simulations.
• For questions, contributions, or further details, visit the GitHub repository.

---

License

This project is licensed under the MIT License.

Contact

For questions or suggestions, please open a GitHub Issue or reach out via email at [email protected].

---

Happy Coding and Simulating!