4-Wheel-Differential-Drive-Robot-Using-Dockers
Don't have ubuntu?
Don't worry. Docker got this all.
Run ROS2 package on your Windows/MAS-OS/Ubuntu without any installation of Ubunto or ROS or any other dependency.
Download dockers first from --> https://docs.docker.com/desktop/
Once docker is installed, pull the ros2 image file. For that open the terminal
docker pull aaids2024/ros2-desktop-vnc:foxy
Run the Docker image
docker run -it -p 6080:80 -v ~/development/ros-docker-tutorials --name foxy_vnc --security-opt seccomp=unconfined --shm-size=512m aaids2024/ros2-desktop-vnc:foxy
Output will look like this
Now open browser and connect to localhost --> localhost:6080
Output will look like this
Congratulations!
You are now running Ubuntu 20.04 with ROS2 foxy installed in it.
Now open the terminal in your browser ubuntu
Create ws_mobile directory
mkdir ws_mobile
Going in directory
cd ws_mobile/Clone the package
git clone https://github.com/SaadRana17/4-Wheel-Differential-Drive-Robot.git
Going in package directory
cd 4-Wheel-Differential-Drive-Robot/
Source the environment
source /opt/ros/foxy/setup.bash
Installing missing dependency of cmake
sudo apt install cmake
Building workspace
colcon buildSourcing the environment again
source /opt/ros/foxy/setup.bashSourcing the workspace
source ~/Desktop/ws_mobile/4-Wheel-Differential-Drive-Robot/install/setup.bash
Updating all dependences and packages
sudo apt update
Installing missing xacro dependences
sudo apt install ros-foxy-xacro
Run the launch file. This will open the 4-wheel-robot model in gazebo
ros2 launch mobile_robot gazebo_model.launch.py
Open new terminal and source the environment variable again
source /opt/ros/foxy/setup.bash
Start the teleop to operate robot from keyboard. Make sure teleop terminal window is open over on gazebo else robot won't move.
ros2 run teleop_twist_keyboard teleop_twist_keyboard
