{"id":31006360,"url":"https://github.com/leander-dsouza/atreus","last_synced_at":"2026-03-10T04:31:37.801Z","repository":{"id":37453323,"uuid":"262733638","full_name":"leander-dsouza/atreus","owner":"leander-dsouza","description":"A test simulation of all projects and models from time to time.","archived":false,"fork":false,"pushed_at":"2025-08-12T00:51:39.000Z","size":31771,"stargazers_count":19,"open_issues_count":0,"forks_count":10,"subscribers_count":5,"default_branch":"ros2","last_synced_at":"2025-08-12T02:37:49.472Z","etag":null,"topics":["artag","ball-detection","gazebo","global-planner","gps","imu","lidar","localization","obstacle-avoidance","opencv","pcl","robotics","ros","teleoperation","traffic-light"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/leander-dsouza.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":"CONTRIBUTING.md","funding":null,"license":"LICENSE","code_of_conduct":"CODE_OF_CONDUCT.md","threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2020-05-10T07:22:23.000Z","updated_at":"2025-08-12T00:51:41.000Z","dependencies_parsed_at":"2025-08-12T02:37:47.384Z","dependency_job_id":null,"html_url":"https://github.com/leander-dsouza/atreus","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/leander-dsouza/atreus","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leander-dsouza%2Fatreus","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leander-dsouza%2Fatreus/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leander-dsouza%2Fatreus/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leander-dsouza%2Fatreus/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leander-dsouza","download_url":"https://codeload.github.com/leander-dsouza/atreus/tar.gz/refs/heads/ros2","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leander-dsouza%2Fatreus/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":274907841,"owners_count":25371822,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-13T02:00:10.085Z","response_time":70,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["artag","ball-detection","gazebo","global-planner","gps","imu","lidar","localization","obstacle-avoidance","opencv","pcl","robotics","ros","teleoperation","traffic-light"],"created_at":"2025-09-13T02:10:16.250Z","updated_at":"2026-03-10T04:31:32.774Z","avatar_url":"https://github.com/leander-dsouza.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)\n![Lint](https://github.com/leander-dsouza/atreus/actions/workflows/lint.yml/badge.svg)\n\n# Atreus for ROS 2 - Jazzy\n\n![Python 3](https://img.shields.io/badge/-Python-black?style=plastic\u0026logo=Python)\n![CMake](https://img.shields.io/badge/-CMake-064F8C?style=plastic\u0026logo=CMake)\n![ROS 2](https://img.shields.io/badge/-ROS_2-22314E?style=plastic\u0026logo=ROS)\n\nThis package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as a Depth Camera, LiDAR, GPS, and an IMU.\n\nInstallation\n------------\n\n### 1. Dev Container (Recommended)\n\n* Install the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension for Visual Studio Code.\n\n* Open the repository in Visual Studio Code and select `Reopen in Container` from the Command Palette (`Ctrl+Shift+P`).\nThis will build the development container with all the necessary dependencies.\n\n### 2. Native Installation\n\n* Clone the repository for responsible for driving the robot using arrow keys:\n\n   ```bash\n   cd $ROS_WS/src/\n   git clone git@github.com:leander-dsouza/key_teleop_ros.git\n   ```\n\n* Install all the required ROS related dependencies:\n\n   ```bash\n   rosdep install --from-paths $ROS_WS/src --ignore-src -r -y\n   ```\n\n* Build the packages:\n\n   ```bash\n   colcon build --symlink-install --packages-select atreus key_teleop_ros\n   ```\n\nTutorial\n--------\n\n### 1. RViz Joint Visualization\n\n* Launch the robot in RViz:\n\n   ```bash\n   ros2 launch atreus rviz.launch.py\n   ```\n   https://github.com/user-attachments/assets/d9053cb4-9933-4115-bb04-ae64e0fe399b\n\n### 2. Teleoperation in Gazebo\n\n* Launch the robot in Gazebo:\n\n   ```bash\n   ros2 launch atreus gazebo.launch.py\n   ```\n\n* Open a new terminal and run the teleoperation node:\n\n   ```bash\n   ros2 run key_teleop_ros key_drive\n   ```\n\n   Use the arrow keys to control the robot's movement.\n\n   \u003cp align=\"center\"\u003e\n      \u003cimg width=\"510\" height=\"107\" alt=\"driving_script_interface\" src=\"https://github.com/user-attachments/assets/561d433e-1ad9-4e9e-9f08-7ec0fb330eb0\" /\u003e\n   \u003c/p\u003e\n\n   https://github.com/user-attachments/assets/cd9df2df-2087-4dc8-8ce1-d5b526d30321\n\n### 3. Mapping\n\n* Launch the robot in Gazebo with the SLAM Toolbox:\n\n   ```bash\n   ros2 launch atreus slam_toolbox.launch.py\n   ```\n\n   This will start the mapping process using **SLAM Toolbox**.\n\n* Open a new terminal and run the teleoperation node:\n\n   ```bash\n   ros2 run key_teleop_ros key_drive\n   ```\n\n   This will allow you to map the environment by driving the robot around.\n\n   https://github.com/user-attachments/assets/b92657ef-2855-4d6b-8c25-e220f16a3816\n\n\n* In order to save the map, open a new terminal and run the following command:\n\n   ```bash\n   ros2 run nav2_map_server map_saver_cli -f my_map\n   ```\n\n   This will save the map to the current directory.\n\n### 4. Navigation\n\n* Launch the robot in Gazebo with the Navigation Stack:\n\n   ```bash\n   ros2 launch atreus nav2.launch.py\n   ```\n\n* Set the initial pose of the robot in RViz by clicking on the `2D Pose Estimate` button:\n\n   https://github.com/user-attachments/assets/069b1ef0-fe6b-44de-9619-21d33b4e03c2\n\n* Use the `2D Nav Goal` button in RViz to set a goal for the robot to navigate to:\n\n   https://github.com/user-attachments/assets/2a6be428-39a5-4ea4-aa1c-65f8049b58eb\n\n\n###### 💾 EOF\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleander-dsouza%2Fatreus","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleander-dsouza%2Fatreus","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleander-dsouza%2Fatreus/lists"}