/ros2-ebrake-tutorial

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ros2-ebrake-tutorial

This repo contains a package with files to launch a Gazebo simulation containing a wheeled robot with a lidar sensor attached. See Figure 1.

Installing and building

Make sure to create a workspace. E.g.

cd ~
mkdir -p tutorial_ws/src

Download the code

cd ~/tutorial_ws/src
git clone git@github.com:Monash-Connected-Autonomous-Vehicle/ros2-ebrake-tutorial.git

Build all the code in the workspace

cd ~/tutorial_ws
colcon build

Running

Please open a new terminal window or tab. With ROS2, you don't want to run code in the same terminal that you built it.

cd ~/tutorial_ws
. install/setup.bash
ros2 launch simulation_launch gazebo_playground.launch.xml

You should see the Gazebo simulator open to a view like this:

image Figure 1: Gazebo simulator with wheeled robot