Ogmen Robotics Task

• First Created URDF model using Fusion 360
• Then converted ogmenbot to URDF using https://github.com/nilutpolkashyap/fusion2urdf plugin

Rviz Launch

• Added rviz.launch along with all sensor data

ros2 launch ogmen_description rviz.launch.py

Gazebo and Move

• Added spawn.launch.py To launch rviz and gazebo

ros2 launch ogmen_description rviz.launch.py

• Added script modify the /scan data and filter it to have only a range of 0 to 120 degrees as its field of view and publish this filtered data to a new topic /filtered_scan. To run

ros2 run ogmen_description filter

• [_] (Working) on Move.py - this file will read a list waypoints coordinates [x (meters), y (meters), yaw_angle(degrees)] : [0,0,0] [5,0,45] [5,5,90] [0,5,0] [0,0,135]

To drive around

ros2 run teleop_twist_keyboard teleop_twist_keyboard