Kinematics Model Design for ROSbot XL Robot

The goal of this checkpoint is to design a kinematics model based on the robot dimensions and transform the model into motion.

Dependencies

• ROS2 Humble
• ROSbot XL package

Note: after launching the simulation, confirm you can move the robot;otherwise, restart the simulation.

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.1, y: 0.0, z: 0.0}, angular:{x: 0.0, y: 0.0, z: 0.0}}"

Motion Testing

Develop the holonomic motions of the robot. These motion includes

• move forward
• move backward
• move sideways to the left
• move sideways to the right
• turn clockwise
• turn counter-clockwise

Implementation

To run these motions, use the below command.

ros2 launch kinematic_model kinematic_model.launch.py

The robot will execute each motion in order.

Robot Following Waypoints

Given the multiple waypoints in [dphi, dx, dy] format, the robot will follow the predefined waypoints in the absolute frame.

Implementation

Use the following command to run the simulation.

ros2 launch eight_trajectory eight_trajectory.launch.py