This package contains the simulation and low-level core of the jetauto robot that will be used in the robotics discipline.
1 - Make a workspace.
2 - Clone this repository in src folder.
3 - Go to the workspace root and install dependencies.
rosdep install --from-paths src4 - Make sure to also install the gazebo packages.
sudo apt install ros-humble-gazebo-ros-pkgs5 - Build your workspace.
colcon build1 - Launch the description of the jet auto transformations.
ros2 launch robotics_class robot_description.launch.py2 - Launch the simulation world.
ros2 launch robotics_class simulation_world.launch.py3 - Launch the ekf.
ros2 launch robotics_class ekf.launch.py4 - Launch the rviz.
ros2 launch robotics_class rviz.launch.py5 - Launch the teleop.
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=jetauto/cmd_vel6 - Launch the goto (in case of passing coordinates).
ros2 topic pub -1 /jetauto/cmd_vel geometry_msgs/msg/Twist \"{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}\"'
topic: /jetauto/cmd_vel
type: geometry_msgs:msg:Twist
I/O: input
topic: /jetauto/odometry/filtered
type: nav_msgs::msg::Odometry
I/O: output
topic: /jetauto/odometry/unfiltered
type: nav_msgs::msg::Odometry
I/O: output
topic: /jetauto/imu/data
type: sensor_msgs::msg::Imu
I/O: output
topic: /jetauto/lidar/scan
type: sensor_msgs::msg::LaserScan
I/O: output/jetauto/cmd_vel is a topic that makes it possible to send a speed setpoint to jetauto.
/jetauto/odometry/filtered It is a topic where you can read the jetauto odometry information after the ekf filter.
/jetauto/odometry/unfiltered It is a topic where you can read the jetauto odometry information before the ekf filter.
/jetauto/imu/data is a topic where you can read the measurement information of the IMU sensor.
/jetauto/lidar/scan is a topic where the measurement information of the lidar sensor can be read.