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wittenator 2023-12-02 19:53:14 +01:00
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README.md
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@ -6,10 +6,11 @@ To install all necessary dependencies, run:
rosdep install --from-paths src -y --ignore-src
```
## 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.
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:
@ -20,4 +21,9 @@ ros2 launch ft24_control launch_sim.py
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
```
```
## 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.