ABU2023_Simulating_Robot

This is 4 mecanum wheel robot simulating in Gazebo for Robocon2023 Simulating Stage.

How to build package

1.Create your workspace with a src sub-directory.

2.Inside a src ,clone this git with git clone https://github.com/Dr2546/abu2023_simulating_robot.git.

3.In the root of your workspace,run rosdep install -i --from-path src --rosdistro foxy -y to check dependencies.

Note:Ros distro may vary depends on you,this project use Ros2 foxy.

4.Run colcon build or colcon build --packages-select abu2023_simulating_robot if your workspace has many packages and you only want to build this package.

5.In your root workspace , go inside install/abu2023_simulating_robot/lib. If there is no abu2023_simulating_robot directory, create it,then copy getpos.py controller.py from install/abu2023_simulating_robot/bin and paste under abu2023_simulating_robot.

How to use/run package

1.Open up your workspace in terminal.

2.Run . install/setup.bash

3.Run ros2 launch abu2023_simulating_stage launch_sim.launch.py first from Robocon2023 Simulating Stage.

Controlling Robot

Use keyboard

controller node is for controlling robot with a joystick that create for this only so I will not talk about it,so alternative way is use teleop_twist_keyboard

Use Joystick

as now the only joystick that can control this robot is Logitech Extreme 3d pro

1.With Gazebo is running , run ros2 run abu2023_simulating_robot joy_launch.py in another terminal.

Position between Robot and Pole

getpos node is for get distance between pole and robot

1.With Gazebo is running , run ros2 run abu2023_simulating_robot getpos pole_number in another terminal.