Setup.md

Setup

• Please install ros2 humble (use ubuntu version 22.04+)
• git clone https://github.com/Siddhu2502/curly-succotash

Once cloned run

• colcon build --symlink-install
• source install/setup.bash (very important!)

Run the launch file

• ros2 launch lidar_robot launch_sim.launch.py (without world)
• ros2 launch lidar_robot launch_sim.launch.py world:=./src/lidar_robot/worlds/buildingworld.world (with the world all in one launch file will be updated later)

Running the robot and some other stuffs

• Open 4 terminals and do source install/setup.bash (be inside the folder)

• Once done in the first terminal run the launch file command

  • Using rviz2 part and playing with rviz

    • run ros2 launch lidar_robot rsp.launch.py (in terminal 1)
    • run rviz2 (in terminal 2)
      • please select fixed_frame = base_link
      • Add tf and RobotModel
      • navigate to RobotModel and select Description Topic = /robot_description
    • run ros2 run joint_state_publisher_gui joint_state_publisher_gui (in terminal 3)

  • Using rviz2 part and playing in gazebo

    • run ros2 launch lidar_robot launch_sim.launch.py (in terminal 1)
    • run ros2 run teleop_twist_keyboard_gui teleop_twist_keyboard_gui (in terminal 2)