1. Installation

• Clone and install all dependencies:

    sudo apt install -y python3-rosdep
    rosdep update

    mkdir -p dogbot_ws/src
    cd dogbot_ws/src
    git clone --recursive https://github.com/noshluk2/champ.git
    git clone https://github.com/chvmp/champ_teleop -b ros2
    cd ..
    rosdep install --from-paths src --ignore-src -r -y

Run Simulation

• Build your workspace:

    cd dogbot_ws
    colcon build
    source ~/dogbot_ws/install/setup.bash

• Gazebo + Rviz2

 ros2 launch champ_config gazebo_gen.launch.py

• Perform Point Cloud Processing

    ros2 run champ_navigation point_cloud_processing

• Perform Path planning

    ros2 run champ_navigation path_planner

• Perform Path following

    ros2 run champ_navigation controller

• Manual Drive Robot

    ros2 run teleop_twist_keyboard teleop_twist_keyboard