This repo contains the grasslammer simulation using ros2.
In order to launch the simulation you first have to clone the repository and to install the required dependencies.
git clone https://github.com/t-Zeta/grasslammer2_simulation.git
rosdep install -i --from-path src --rosdistro humble -yto run the simulation you also need to:
pip install xacro
pip install setuptools==58.2.0
Finally you can:
colcon build
There are currently two branches: main, navigation. The second already contains some test code for the navigation task. It is recommended to create a branch for every sub-team.
To launch the simulation you have to colcon build your environment and then you can use ros2 launch grasslammer2_description simulation.launch.py. It is a nested launch file, indeed it includes other launch files. You can change the simulation world inside gaz_world.launch.py using the world_file variable.
To teleop the robot you can use either ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap /cmd_vel:=/grasslammer_velocity_controller/cmd_vel_unstamped or uncomment the #teleop_joy line (57) in the simulation's launch file.