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tugbot_ros2_pkgs

Overview

The tugbot_ros2_pkgs package is designed to enable the Tugbot robot to run in a ROS 2 environment using Ignition Gazebo. This package provides the necessary launch files, configurations, and dependencies to get Tugbot up and running seamlessly.

Features

  • SLAM Integration: Utilizes SLAM Toolbox for mapping and localization.
  • Teleoperation: Includes teleoperation via keyboard.
  • Sensor Data Conversion: Converts PointCloud2 data to LaserScan for compatibility with navigation packages.
  • Navigation: Integrated with ROS 2 Navigation Stack (Nav2) for autonomous navigation.

Prerequisites

  • ROS 2 (Tested on Foxy, Galactic, and Humble)
  • Ignition Gazebo
  • Python 3.x

Installation

  1. Clone the repository into your ROS 2 workspace:

    git clone https://github.com/yourusername/tugbot_ros2_pkgs.git

  2. Navigate to your ROS 2 workspace and build the package:

    cd ~/ros2_ws
colcon build --packages-select tugbot_ros2_pkgs

  3. Source your workspace:

    source ~/ros2_ws/install/setup.bash

Run Ignition Gazebo world

ros2 launch tugbot_gazebo tugbot_depot.launch.py

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