IRIS-2022

Getting Started

1. Create a colcon workspace
   • if you're colcon workspace folder does not exist: mkdir -p ~/colcon_ws/src
   • Make sure the ~/colcon_ws/src subfolder exists
2. Clone this Repo
   • Clone this repo into the ~/colcon_ws/src subfolder
3. Install the required dependencies with rosdep
   • cd ~/colcon_ws
   • rosdep install -i --from-path src --rosdistro galactic -y
4. Build the desired package
   • colcon build --packages-select <Package folder name>
5. Source the setup script so ros2 can find the packages in this workspace
   • source ~/colcon_ws/install/setup.bash

Teleop Package Usage

• ros2 run teleop teleop_node
  • Launches the teleop node ONLY
• ros2 launch teleop teleop_launch.py
  • Launches everything, including joystick nodes and teleop node

Simulation Package Usage

• Terminal 1: ros2 launch basic_sim arena_world.launch.py
  • Launches gazebo with the basic arena world(Skid-steer model rover + arena walls + flat ground)
• Terminal 2: ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap /cmd_vel:=/rover/cmd_vel
  • Control the rover model with your keyboard
  • Start at a low speed to prevent rover from jumping all over the place
• Terminal 3: rviz2 -d basic_sim/resource/rover_depth_camera_view.rviz to view rover's depth camera data

  End Package Folder Structure

  ~/colcon_ws/
  build/
  install/
  log/
  src/
      IRIS-2022/
          basic_sim/
          py_pubsub/
          teleop/