https://github.com/leander-dsouza/atreus
A test simulation of all projects and models from time to time.
https://github.com/leander-dsouza/atreus
artag ball-detection gazebo global-planner gps imu lidar localization obstacle-avoidance opencv pcl robotics ros teleoperation traffic-light
Last synced: about 1 month ago
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A test simulation of all projects and models from time to time.
- Host: GitHub
- URL: https://github.com/leander-dsouza/atreus
- Owner: leander-dsouza
- License: mit
- Created: 2020-05-10T07:22:23.000Z (over 5 years ago)
- Default Branch: ros2
- Last Pushed: 2025-08-12T00:51:39.000Z (2 months ago)
- Last Synced: 2025-08-12T02:37:49.472Z (2 months ago)
- Topics: artag, ball-detection, gazebo, global-planner, gps, imu, lidar, localization, obstacle-avoidance, opencv, pcl, robotics, ros, teleoperation, traffic-light
- Language: Python
- Homepage:
- Size: 30.3 MB
- Stars: 19
- Watchers: 5
- Forks: 10
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Code of conduct: CODE_OF_CONDUCT.md
Awesome Lists containing this project
README
[](https://opensource.org/licenses/MIT)
# Atreus for ROS 2 - Jazzy
This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as a Depth Camera, LiDAR, GPS, and an IMU.
Installation
------------
### 1. Dev Container (Recommended)
* Install the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension for Visual Studio Code.
* Open the repository in Visual Studio Code and select `Reopen in Container` from the Command Palette (`Ctrl+Shift+P`).
This will build the development container with all the necessary dependencies.
### 2. Native Installation
* Clone the repository for responsible for driving the robot using arrow keys:
```bash
cd $ROS_WS/src/
git clone git@github.com:leander-dsouza/key_teleop_ros.git
```
* Install all the required ROS related dependencies:
```bash
rosdep install --from-paths $ROS_WS/src --ignore-src -r -y
```
* Build the packages:
```bash
colcon build --symlink-install --packages-select atreus key_teleop_ros
```
Tutorial
--------
### 1. RViz Joint Visualization
* Launch the robot in RViz:
```bash
ros2 launch atreus rviz.launch.py
```
https://github.com/user-attachments/assets/d9053cb4-9933-4115-bb04-ae64e0fe399b
### 2. Teleoperation in Gazebo
* Launch the robot in Gazebo:
```bash
ros2 launch atreus gazebo.launch.py
```
* Open a new terminal and run the teleoperation node:
```bash
ros2 run key_teleop_ros key_drive
```
Use the arrow keys to control the robot's movement.
https://github.com/user-attachments/assets/cd9df2df-2087-4dc8-8ce1-d5b526d30321
### 3. Mapping
* Launch the robot in Gazebo with the SLAM Toolbox:
```bash
ros2 launch atreus slam_toolbox.launch.py
```
This will start the mapping process using **SLAM Toolbox**.
* Open a new terminal and run the teleoperation node:
```bash
ros2 run key_teleop_ros key_drive
```
This will allow you to map the environment by driving the robot around.
https://github.com/user-attachments/assets/b92657ef-2855-4d6b-8c25-e220f16a3816
* In order to save the map, open a new terminal and run the following command:
```bash
ros2 run nav2_map_server map_saver_cli -f my_map
```
This will save the map to the current directory.
### 4. Navigation
* Launch the robot in Gazebo with the Navigation Stack:
```bash
ros2 launch atreus nav2.launch.py
```
* Set the initial pose of the robot in RViz by clicking on the `2D Pose Estimate` button:
https://github.com/user-attachments/assets/069b1ef0-fe6b-44de-9619-21d33b4e03c2
* Use the `2D Nav Goal` button in RViz to set a goal for the robot to navigate to:
https://github.com/user-attachments/assets/2a6be428-39a5-4ea4-aa1c-65f8049b58eb
###### 💾 EOF