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Build a robot model on SolidWorks and export it as URDF.
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Add LiDAR Sensor onto robot and show visualization of LiDAR data in RViz.
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Perform teleop and move around in the map in Gazebo.
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Code up a simple publisher and subscriber for the robot so that it moves ahead in a straight line or circular loop for 10~15 seconds.
ROS is required to this package. Install ROS by follwoing the instructions on:
http://wiki.ros.org/noetic/Installation
- Clone the github repo.
$ git clone link-of-repo
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After cloning, you will see three folders, Assembly
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Inside the repo under package is the ROS package which is required to run the robot & the package is named as robo_car
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Go to your catkin_ws by typing the command
$ cd <your catkin_ws_name>
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Place that package in your catkin_ws under src
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Then run the command
$ catkin_make clean && catkin_make
to build the package -
Source everytime you open a new terminal or made any changes in the ROS package using the command
source devel/setup.bash
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Open two terminals and source the package using the command mentioned above
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Run the command below to launch the toy car in Gazebo environment
roslaunch robo_car template_launch.launch
- In your other terminal run the command, to launch the teleop controllers
rosrun rviz rviz
- Add the RobotModel and Laserscan. There you go you can see the Toy car and LiDAR visualization in RViz
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Open two terminals and source ROS using the command mentioned above
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Run the command below to launch the toy car in Gazebo environment
roslaunch robo_car template_launch.launch
- In your other terminal run the command, to launch the teleop controllers
rosrun robo_car teleop_template.py
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The controls to move the toy car are:
" i "- To move Forward
" j "- To turn to the Right
" l "- To turn to the Left
" , "- To move Backwards
" o "- To move Forward turning to the left at the same time
" u "- To move Forward turning to the right at the same time
" m "- To move Backwards turning to the left at the same time
" . "- To move Backwards turning to the right at the same time
" k " - Force Stop
"Anything else" - Smooth stop
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Open three terminals and source ROS using the command mentioned above
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Run the command below in the first terminal to launch the toy car in Gazebo environment
roslaunch robo_car template_launch.launch
- In your second terminal run the command, to launch the subscriber
rosrun robo_car subscriber_straight.py
- In your third terminal run the command, to launch the publisher
rosrun robo_car publisher_straight.py
- The robot car can be seen moving along the X-axis of the Gazebo in a straight path before coming to a stop.
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Open three terminals and source ROS using the command mentioned above
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Run the command below in the first terminal to launch the toy car in Gazebo environment
roslaunch robo_car template_launch.launch
- In your second terminal run the command, to launch the subscriber
rosrun robo_car subscriber_circle.py
- In your third terminal run the command, to launch the publisher
rosrun robo_car publisher_circle.py
- The robot car can be seen moving along a circular loop in Gazebo before coming to a stop.