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GOFIRST-Robotics / Lunabotics

The official NASA Lunabotics GitHub repository for University of Minnesota Robotics.
https://studentrobotics.umn.edu/
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Initial Gazebo Implementation of 2024 Robot URDF #160

Closed Isopod00 closed 6 months ago

Isopod00 commented 7 months ago

Ready for review!

pwmarshall commented 7 months ago

to test on ubuntu (and generally linux) with ros installed: sudo apt-get install ros-humble-ros-gz to get gazebo sudo apt-get install ros-humble-teleop-twist-keyboard to get keyboard control for ros

then run from local repo

colcon build --symlink-install --packages-up-to ros_gz_launch
source install/setup.bash
ros2 launch ros_gz_launch master_ASM.launch.py
colcon build --symlink-install --packages-up-to drivetrain
source install/setup.bash
ros2 run drivetrain drivetrain_node

and 

source /opt/ros/humble/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

These will launch Gazebo, DrivetrainNode, and keyboard controls in that order.