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Rover Simulation

Repository for the code that runs the rover simulation

First of all git clone the repo to your desktop or prefered directory

Installing dependencies

1.- Open a terminal and use `cd' to change directory to rover_simulation directory

2.- Run the dependencies installation script for installing Ros2_control Gazebo and xacro (This step assumes you have the basic ROS2 dependencies installed, if not consult Dependencies installer script from the Main Rover Repository)

bash src/my_bot/simulation_installer.bash

Running the code

1.-In the rover_simulation directory use colcon to build the repository

colcon build

3.- source the setup script

source install/setup.bash

4.- run the launch file

ros2 launch my_bot launch_sim.launch.py

Optional .- you can add this command to run the simulation with an obstacle world :

ros2 launch my_bot launch_sim.launch.py world:=./src/my_bot/worlds/obstacles.world

5.-Once gazebo opens open another terminal and repeat steps 2 to 4 and run the keyboard input interface command

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped

file:///home/joas329/Downloads/video5073708973446660948.mp4

6DoF Robotic Arm Simulation

Here you will also find the code for controlling the robotic arm for York University's RObotics Society. All of the code related to this can be found in the arm_control_moveit_config package and some of it on the my_bot one (to be moved into arm_control_moveit_config).

Install dependencies

inside of /rover_simulation/src/my_bot you will find a simulation_installer.bash script. Run it with the following command to install the necessary dependencies for running the arm controller.

bash simulation_installer.bash

Running the code

For running the code you will need three terminals After building and sourcing all your terminals, go back to the rover_simulation directory

Terminal 1

This is for launching the simulation and the path planning through moveit2 API

ros2 launch arm_control_moveit_config simulation.launch.py

Terminal 2

This one is for running the double step PID

ros2 run my_bot velPID

Terminal 3

This is one is for setting the parameters of the PIDs through CLI

ros2 param set VelPID [parameter name] [parameters values]

For more information on the parameters refer to the document in the notion on how the arm works.