Articubot ONE - Kraft2k/icebox-rover GitHub Wiki

Install ROS packages

sudo apt install ros-foxy-gazebo-ros-pkgs

sudo apt install ros-foxy-slam-toolbox

sudo apt install ros-foxy-ros2-control ros-foxy-ros2-controllers ros-foxy-gazebo-ros2-control

sudo apt install ros-foxy-twist-mux

colcon build --packages-select articubot_one

Navigation with NAV2 and ROS

ros2 launch articubot_one rsp.launch.py use_sim_time:=true

Launch with robot model

ros2 launch articubot_one launch_sim.launch.py

ros2 run twist_mux twist_mux --ros-args --params-file ./src/articubot_one/config/twist_mux.yaml -r cmd_vel_out:=diff_cont/cmd_vel_unstamped

ros2 launch articubot_one launch_sim.launch.py world:=./src/articubot_one/worlds/obstacles.world

ros2 control list_hardware_interfaces

ros2 run controller_manager spawner.py diff_cont

ros2 run controller_manager spawner.py joint_broad

ros2 control list_controllers

ros2 run controller_manager ros2_control_node --ros-args --params-file /home/kraft/ros2_ws/install/articubot_one/share/articubot_one/config/my_controllers.yaml

rviz2 -d src/articubot_one/config/main.rviz

ros2 run rviz2 rviz2 -d src/articubot_one/config/main.rviz --ros-args -p use_sim_time:=true

ros2 launch slam_toolbox online_async_launch.py params_file:=./src/articubot_one/config/mapper_params_online_async.yaml use_sim_time:=true

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true

ros2 run v4l2_camera v4l2_camera_node --ros-args -p image_size:="[640,480]" -p camera_frame_id:=camera_link_optical

ros2 run ball_tracker detect_ball --ros-args -p tuning_mode:=true -r image in:=camera/image_raw