car_gazebo

Car like robot is simulated in real life using ros2_control. This package contains urdf file for the car like robot.

Installation

pip3 uninstall serial
pip3 install pyserial==3.5

sudo apt install ros-humble-xacro
sudo apt install ros-humble-joint-state-publisher-gui 
rosdep install --from-paths src --ignore-src -r -y

colcon build
source install/setup.bash

Run this in dev machine

Launch File for viewing car only

ros2 launch car_gazebo view_car.launch.py

set base_footprint as fixed_frame in rviz2

Launch File for running the hardware real carlikerobot which runs rplidar node, imu node, twist mux node, teleop node(for car teleop) and map->odom transform, odom->base_link transform nodes.

ros2 launch car_gazebo bringup_car.launch.py remap_odometry_tf:=true

set odom as fixed_frame in rviz2 to view car set map as fixed frame when running slam and localizer

Running slam toolbox launch file

ros2 launch car_gazebo online_async_launch.py 

In local machine

Run rviz2 in local device to see the robot and map

rviz2

For running the joystick

ros2 launch car_gazebo joystick.launch.py 

On Dev machine

Runnning twist mux

ros2 run twist_mux twist_mux --ros-args --params-file src/car_gazebo/config/twist_mux.yaml -r cmd_vel_out:=/cmd_vel_stamped

For giving 2D goal pose.

ros2 launch nav2_bringup navigation_launch.py params_file:=src/car_gazebo/config/nav2_test_params.yaml 

On local machine

runnin dwb local planner

ros2 launch nav2_bringup navigation_launch.py params_file:=src/navigation2/config/nav2_params.yaml 

running mppi controller

 ros2 launch nav2_bringup navigation_launch.py params_file:=src/navigation2/config/nav2_params_test.yaml