segway_ros2

This repository contains a collection of ROS2 packages for controlling and simulating a Segway RMP platform. The packages include:

segway_description: Provides the URDF model, meshes, and associated launch files for visualizing and simulating the Segway platform in Gazebo and RViz.
segway_hardware_interface: Implements a hardware interface for the Segway platform, enabling seamless integration with the ROS2 control framework.
segway_rmp: A package that provides a low-level interface to communicate with the Segway RMP platform.

Prerequisites

Clone this repository into your ROS2 workspace:

cd ~/ros2_ws/src
git clone https://github.com/adeeb10abbas/segway_ros2.git

Build the workspace:

cd ~/ros2_ws
colcon build
source install/setup.bash

To visualize the Segway model in RViz, run the following command:

ros2 launch segway_description display.launch.py

To simulate the Segway model in Gazebo, run the following command:

ros2 launch segway_description gazebo.launch.py

Control the Segway platform using ROS2 control To control the Segway platform using the ROS2 control framework, you need to:

Implement a custom controller or use an existing controller compatible with the hardware interface provided by the segway_hardware_interface package.
Create a launch file that loads the controller and hardware interface configuration and starts the ros2_control_node. For more information on using ROS2 control, refer to the official documentation.

Contributions to this repository are welcome. Please submit a pull request or create an issue to report bugs or request new features.

This project is licensed under the MIT License.