2023-12-02 19:46:12 +01:00
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# Temporary FT24 control repo
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2023-08-01 17:02:17 +02:00
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2023-12-02 19:47:54 +01:00
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## Initial setup
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To install all necessary dependencies, run:
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```
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rosdep install --from-paths src -y --ignore-src
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```
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2023-12-02 19:53:14 +01:00
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Then build this package via the normal ROS2 build process:
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```
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colcon build --symlink-install
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source install/setup.bash
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```
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2023-08-01 17:02:17 +02:00
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2023-12-02 19:46:12 +01:00
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## Simulation Start
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For the Gazebo simulation, run:
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```
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ros2 launch ft24_control launch_sim.py
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2023-12-02 19:50:54 +01:00
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```
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2023-12-02 19:56:08 +01:00
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You can control the car with the keyboard by publishing Twist commands by opening a separate terminal and running:
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2023-12-02 19:50:54 +01:00
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```
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ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/ackermann_steering_controller/reference_unstamped
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2023-12-02 19:53:14 +01:00
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```
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## Robot Control
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The robot control is implemented in the `ft24_control` package and can be launched with \
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`ros2 launch ft24_control launch_robot.py`.\
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This launch file brings up the `ros2_control`-based nodes that serve as the interface between the physical robot and the ROS2 software stack.
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