https://github.com/andy-leo10/checkpoint16

Kinematic model of ROSBot XL, an omnidirectional robot.
https://github.com/andy-leo10/checkpoint16

kinematics omnidirectional ros2

Last synced: about 1 year ago
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Kinematic model of ROSBot XL, an omnidirectional robot.

• Host: GitHub
• URL: https://github.com/andy-leo10/checkpoint16
• Owner: Andy-Leo10
• Created: 2024-01-23T12:39:02.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2024-01-24T17:47:56.000Z (over 2 years ago)
• Last Synced: 2025-06-06T04:29:59.931Z (about 1 year ago)
• Topics: kinematics, omnidirectional, ros2
• Language: C++
• Homepage:
• Size: 15 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# checkpoint16

Kinematic model of ROSBot XL, an omnidirectional robot. 

## Simulation

    source ~/ros2_ws/install/setup.bash

    ros2 launch rosbot_xl_gazebo simulation.launch.py

Check if the robot can moves

    ros2 run teleop_twist_keyboard teleop_twist_keyboard

## Task 1

Test the holonomic movements

### Task 1 - terminal 1

    ros2 launch kinematic_model kinematic_model.launch.py

### Task 1 - terminal 2

    ros2 run wheel_velocities_publisher wheel_velocities_publisher

## Task 2 

Make the robot follows a 8 path

    ros2 launch eight_trajectory eight_trajectory.launch.py

### Knowledge

![description: kinematic_model](pictures/kinematic_model.png)