Temporary FT24 control repo

Initial setup

To install all necessary dependencies, run:

rosdep install --from-paths src -y --ignore-src

Then build this package via the normal ROS2 build process:

colcon build --symlink-install
source install/setup.bash 

Simulation Start

For the Gazebo simulation, run:

ros2 launch ft24_control launch_sim.py

You can control the car with the keyboard by publishing Twist commands by opening a separate terminal and running:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/ackermann_steering_controller/reference_unstamped

Robot Control

The robot control is implemented in the ft24_control package and can be launched with
ros2 launch ft24_control launch_robot.py.
This launch file brings up the ros2_control-based nodes that serve as the interface between the physical robot and the ROS2 software stack.