samialperen/ros2_move_robot

ros2_move_robot

Overview

This package implements open loop velocity control in ROS2. It contains a class to move the robot in square as a proof of concept.

Keywords: open loop velocity control, ros2, draw squares

License

The source code is released under a MIT license.

Author: Sami Alperen Akgun

Installation

Clone the repository under your ROS2 workspace.

cd your_ros2_ws/src
git clone https://github.com/samialperen/ros2_move_robot

Building

You first need to build msgs package then the main package. Do not forget to use symlink for the main package.

cd your_ros2_ws
colcon build --packages-select ros2_draw_squares_custom_msgs
colcon build --symlink-install --packages-select ros2_draw_squares

Usage

Run the service server node with

ros2 launch ros2_draw_squares move_robot_in_squares_service_server.launch.py

Run the service client node with

ros2 launch ros2_draw_squares call_move_robot_in_squares_service_server.launch.py

Launch files

• move_robot_in_squares_service_server.launch.py: Starts the service server which is responsible for making robot to draw squares by publishing to /cmd_vel

• call_move_robot_in_squares_service_server.launch.py: Starts the service client which calls the service to make robot to draw squares

Nodes

move_robot_node

Makes robot to draw square using open loop velocity control

Published Topics

• /cmd_vel (geometry_msgs/msg/Twist)

  The velocity message to control robot's trajectory

Services

• move_robot_in_square (ros2_draw_squares_custom_msgs/srv/square_service_message.hpp)

  Makes robot to draw square

    ros2 service call ros2_draw_squares_custom_msgs/srv/square_service_message /move_robot_in_square "{square_size: 10.0, square_number: 2}"
  

Parameters

• square_size (double, positive)

  Determines how big the square will be

• square_number (int, min: 1)

  The number of times robot executes the square movement

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.