ROS2-SKID-STEER-DRIVE-ROBOT

Installation

The package was made using ROS2 Humble

Dependencies

You need to have installed:

1. ros-xacro:

   sudo apt install ros-<ros2-distro>-xacro

2. ros-joint-state-publisher:

   sudo apt install ros-<ros2-distro>-joint-state-publisher-gui

3. gazebo-ros:

   sudo apt install ros-<ros2-distro>-gazebo-ros-pkgs

🔨 How to build

To build the packages in this repository follow these steps:

1. cd into an existing or create a new workspace

   mkdir -p skidbot_ws/src

2. clone this repository in the src folder of your workspace

   cd skidbot_ws/src

   git clone https://github.com/odobot/ROS2-SKID-STEER-DRIVE-ROBOT.git

3. Naviage back to the workspace folder

   cd ../

4. build the workspace using the colcon build tool

   colcon build --symlink-install

5. source the setup.bash file

   source install/setup.bash

6. You can add the setup.bash file on the bashrc script file, just open the file and add it at end:

   gedit ~/.bashrc

   source ~/skidbot_ws/install/setup.bash

🎥 Rviz

To view the urdf in rviz open 3 terminals:
On the first terminal (needs to the terminal you sourced your setup.bash file in) type:

  ros2 launch skid_bot rsp.launch.py

Second terminal

 rviz2

third terminal

 ros2 run joint_state_publisher_gui joint_state_publisher_gui

🎥 Gazebo

Default world

To view and control the robot in gazebo:
Run:

ros2 launch skid_bot launch_sim.launch.py

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Gazebo_skidbot.mp4

Custom world

Run:

ros2 launch skid_bot launch_sim.launch.py world:=<path to the custom world>

🎥 Gazebo & Rviz

Viewing the robot in gazebo and get its relative position to the centre using Rviz
Run:

ros2 launch skid_bot launch_sim.launch.py

ros2 run teleop_twist_keyboard teleop_twist_keyboard

rviz2

Gazebo.Rviz_skidbot.mp4