wag_gsz_feleves package

ROS 2 python package.

Packages and build

It is assumed that the workspace is ~/ros2_ws/.

Clone the packages

cd ~/ros2_ws/src

git clone https://github.com/wdavid02/wag_gsz_feleves

Build ROS 2 packages

cd ..

colcon build --packages-select wag_gsz_feleves --symlink-install

Don't forget to source before ROS commands.

source ros2_ws/src/install/setup.bash && source install/setup.bash

You'll need some packages to download or upgrade

sudo apt install ros_humble_gazebo_ros_pkgs

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

sudo apt install ros-humble-slam-toolbox

Split the pane. In the first pane we start the simulation, Gazebo and Rviz2 with the following row:

ros2 launch wag_gsz_feleves launch_sim.launch.py

Control panel

You'll be able to control the robot with your keyboard in the second pane

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Original project

The foundational idea for the project and much of the initial guidance were drawn from the following source: https://articulatedrobotics.xyz/.

However, as the project progressed, I strived to rely increasingly on my own ideas, especially since differences in ROS versions often made it impractical to directly replicate the original implementation.

Error possibility

If you want to control the bot, the teleop pane must be active instead of Gazebo. Click there to activate it.