t.korjakow/ft24_control
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Made docs better

Browse Source
This commit is contained in:
wittenator 2023-12-02 19:53:14 +01:00
parent 6b3db959ed
commit 2013ae2bf4
1 changed files with 11 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
README.md
View File

@ -6,10 +6,11 @@ To install all necessary dependencies, run:
rosdep install --from-paths src -y --ignore-src rosdep install --from-paths src -y --ignore-src
``` ```
## Robot Control Then build this package via the normal ROS2 build process:
The robot control is implemented in the `ft24_control` package and can be launched with \ ```
`ros2 launch ft24_control launch_robot.py`.\ colcon build --symlink-install
This launch file brings up the `ros2_control`-based nodes that serve as the interface between the physical robot and the ROS2 software stack. source install/setup.bash
```
## Simulation Start ## Simulation Start
For the Gazebo simulation, run: For the Gazebo simulation, run:
@ -21,3 +22,8 @@ You can control the car with the keyboard by publishing Twist commands via:
``` ```
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/ackermann_steering_controller/reference_unstamped 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.