/transfer_carrier_sim

Primary LanguageC++

transfer_carrier_sim

Install

sudo apt-get install libeigen3-dev
sudo apt install ros-<ros2-distro>-joint-state-publisher-gui
sudo apt install ros-<ros2-distro>-xacro
sudo apt install ros-<ros2-distro>-gazebo-ros-pkgs
sudo apt install ros-<ros2-distro>-ackermann-msgs
sudo apt install ros-<distro>-ros2-control ros-<distro>-ros2-controllers
sudo apt install ros-<distro>-controller-manager
sudo apt install ros-<distro>-laser-geometry

Set up ROS2

cd ~/ros2_ws
source /opt/ros/foxy/setup.bash #for ros2 foxy
source /opt/ros/humble/setup.bash #for ro2 humble
source install/setup.bash

Model description

colcon build --packages-select niagara_model
source install/setup.bash
ros2 launch transfer_carrier_description gazebo.launch.py #For launching with gazebo and rviz
ros2 launch transfer_carrier_description display.launch.py

Obstacle detector based lidar node

colcon build --packages-select lidar_detector
source install/setup.bash
ros2 launch lidar_detector Obstacles.launch.py

Mux velocity node

colcon build --packages-select mux_velocity
source install/setup.bash
ros2 launch mux_velocity mux.launch.py