https://github.com/khaledgabr77/jordan_workshop
Mobile Industrial Robots & ROS 2 Workshop – Al-Hussein Technical University, Jordan.
https://github.com/khaledgabr77/jordan_workshop
actions amcl gazebosim mcl message navigation2 nodes parameters ros2-jazzy sdf services slam tf2 topics urdf
Last synced: 4 months ago
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Mobile Industrial Robots & ROS 2 Workshop – Al-Hussein Technical University, Jordan.
- Host: GitHub
- URL: https://github.com/khaledgabr77/jordan_workshop
- Owner: khaledgabr77
- Created: 2025-01-13T12:25:21.000Z (5 months ago)
- Default Branch: main
- Last Pushed: 2025-02-11T09:25:06.000Z (4 months ago)
- Last Synced: 2025-02-11T10:30:35.369Z (4 months ago)
- Topics: actions, amcl, gazebosim, mcl, message, navigation2, nodes, parameters, ros2-jazzy, sdf, services, slam, tf2, topics, urdf
- Language: Python
- Homepage:
- Size: 15 MB
- Stars: 1
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Jordan Workshop
This guide walks you through setting up, installing, and running the packages in this workspace.
## Prerequisites
- **Ubuntu 22.04 or 24.04**
- **ROS 2 Jazzy or Humble**
- **Gazebo Sim Ionic or Harmonic**
### Install ROS 2 Jazzy
```bash
cd jordan_workshop/scripts
./install_ros2_jazzy.sh
```
### Install Gazebo Sim Harmonic
```bash
cd jordan_workshop/scripts
./install_gazebo_sim_harmonic.sh
```
## Automated Workspace Setup
To automatically set up the workspace and install all required dependencies, run:
```bash
cd jordan_workshop/scripts
./setup.sh
```
## Manual Setup Instructions
### 1. Clone the Repository
Clone the repository from GitHub:
```bash
git clone https://github.com/khaledgabr77/jordan_workshop
```
### 2. Build the Workspace
Navigate to the workspace and build the project:
```bash
colcon build
source install/setup.bash
```
### 3. Set Environment Variables
Set the necessary environment variable so that Gazebo (Ignition/GZ) can locate the simulation resources:
```bash
export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:~/jordan_workshop/src
```
> **Note**: Replace `~/jordan_workshop/src` with the absolute path to the `src` directory of your workspace if it's located elsewhere.
---
## Package Usage
Below are instructions for launching simulations and running various ROS 2 nodes in this workspace.
### 1. Launching the Petra Robot Simulation
There are multiple launch files available, each providing different configurations for the Petra Robot:
1. **SDF Simulation**:
```bash
ros2 launch petra_robot petra_sim.launch.py
```
2. **URDF Simulation**:
```bash
ros2 launch petra_robot petra_urdf.launch.py
```
> *Note:* There are several URDF launch files available in the `petra_robot` package, such as `petra_urdf_v1.launch.py`, `petra_urdf_v3.launch.py`, and so on. Each file provides a different robot configuration.
3. **SLAM Simulation**:
```bash
ros2 launch petra_robot mapping.launch.py
```
4. **Localization Simulation**:
```bash
ros2 launch petra_robot localization.launch.py
```
5. **Navigation Simulation**:
```bash
ros2 launch petra_robot navigation.launch.py
```
---
### 2. Running the Publisher and Subscriber Nodes
Use the following commands to run publisher and subscriber nodes from the **C++** and **Python** pub/sub packages:
- **C++** (`cpp_pub_sub_pkg`):
```bash
ros2 run cpp_pub_sub_pkg publisher_hello_ros
ros2 run cpp_pub_sub_pkg subscriber_hello_ros
```
- **Python** (`py_pub_sub_pkg`):
```bash
ros2 run py_pub_sub_pkg publisher_hello_ros
ros2 run py_pub_sub_pkg subscriber_hello_ros
```
---
### 3. Running the Client and Server Services
The `py_service_pkg` package includes a client and server:
```bash
ros2 run py_service_pkg py_service_server
ros2 run py_service_pkg py_service_client
```
> **Note:** The `cpp_interface_pkg` contains the custom service definition (`srv` message) used by the service nodes.
---
### 4. Running Launch Files
Several launch files are provided to simplify running multiple nodes simultaneously or to configure simulations.
1. **C++ Publisher/Subscriber**:
```bash
ros2 launch cpp_pub_sub_pkg cpp_pub_sub.launch.py
```
2. **Turtlesim Launch (C++)**:
```bash
ros2 launch cpp_launch_pkg cpp_launch_file.launch.py
```
3. **Turtlesim Launch (Python)**:
```bash
ros2 launch py_launch_pkg my_first_launch_file.launch.py
```
4. **Turtlesim Remapping**:
```bash
ros2 launch py_launch_pkg remapping_turtle.launch.py
```
---
### 5. Running Parameter Nodes
To run Python nodes that use parameters (in the `py_parameters_pkg`):
1. **Parameter Nodes**:
```bash
ros2 run py_parameters_pkg my_parameter
ros2 run py_parameters_pkg py_param
```
2. **Launch File with Parameters**:
```bash
ros2 launch py_parameters_pkg publisher_param.launch.py
```
---
### 6. Running TF2 Nodes
To work with TF2 (transforms) using `py_tf2_pkg`:
1. **Static Broadcaster**:
```bash
ros2 run py_tf2_pkg static_broadcaster.py
```
2. **Static Listener**:
```bash
ros2 run py_tf2_pkg tf_listener.py
```
3. **Dynamic Broadcaster**:
```bash
ros2 run py_tf2_pkg dynamic_transform_broadcaster.py
```
4. **Pose Estimation** (turtle2 w.r.t. turtle1):
```bash
ros2 run py_tf2_pkg turtle_tf2_pose.py
```
5. **Turtle Follower**:
```bash
ros2 run py_tf2_pkg turtle_tf2_follower.py
```
---
### 7. Running the Mogi Trajectory Server
To start the Mogi Trajectory Server:
```bash
ros2 run mogi_trajectory_server mogi_trajectory_server
```
---
### 8. Running the Yahboomcar Simulation
To launch the Yahboomcar simulation in `yahboomcar_description`:
```bash
ros2 launch yahboomcar_description robot_sim.launch.py
```
---
## Additional Information
- Ensure all dependencies are installed correctly before running any simulations.
- For questions, contributions, or further details, visit the [GitHub repository](https://github.com/khaledgabr77/jordan_workshop).
---
## License
This project is licensed under the [MIT License](LICENSE).
## Contact
For questions or suggestions, please open a GitHub Issue or reach out via email at **[email protected]**.
---
*Happy Coding and Simulating!*