[Oct 18th Week6 Friday] Update: Depth Camera working, included rviz setup file

Robot Package Template

This is a GitHub template. You can make your own copy by clicking the green "Use this template" button.

It is recommended that you keep the repo/package name the same, but if you do change it, ensure you do a "Find all" using your IDE (or the built-in GitHub IDE by hitting the . key) and rename all instances of my_bot to whatever your project's name is.

Note that each directory currently has at least one file in it to ensure that git tracks the files (and, consequently, that a fresh clone has direcctories present for CMake to find). These example files can be removed if required (and the directories can be removed if CMakeLists.txt is adjusted accordingly).

To launch in gazebo classic

colcon build --symlink-install

. install/setup.bash

ros2 launch articubot_one launch_sim.launch.py world:=worlds/obstacles.world

To see the lidar visualisation in rviz2

rviz2

1. change "Fixed Frame" to "base_link"
2. Add(By DisplayType) -> RobotModel -> Description -> /robot_description
3. Add(By DisplayType) -> LaserScan -> Topic -> /scan

Debug

If world not loading, model not loading, etc

• gzserver --verbose worlds/obstacles.world
• gzclient --verbose

Tutorial

https://www.youtube.com/watch?v=eJZXRncGaGM&t=722s

Gazebo version (gazebo --version)

Gazebo multi-robot simulator, version 11.10.2 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

If you want to tele-operate

1. run ros2 run teleop_twist_keyboard teleop_twist_keyboard for keyboard
   or ros2 launch teleop_twist_joy teleop-launch.py for controller
2. yey!