https://github.com/mgonzs13/ros2_rover
A version of Sawppy the Rover for ROS 2
https://github.com/mgonzs13/ros2_rover
gazebo ros2 rover swappy
Last synced: about 1 month ago
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A version of Sawppy the Rover for ROS 2
- Host: GitHub
- URL: https://github.com/mgonzs13/ros2_rover
- Owner: mgonzs13
- License: mit
- Created: 2021-08-28T11:14:38.000Z (over 3 years ago)
- Default Branch: humble
- Last Pushed: 2025-04-01T16:04:42.000Z (about 2 months ago)
- Last Synced: 2025-04-01T17:27:07.894Z (about 2 months ago)
- Topics: gazebo, ros2, rover, swappy
- Language: Python
- Homepage:
- Size: 25.4 MB
- Stars: 68
- Watchers: 4
- Forks: 10
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Citation: CITATION.cff
Awesome Lists containing this project
README
# ros2_rover
This is a ROS 2 (Humble) version of the [Sawppy the Rover](https://github.com/Roger-random/Sawppy_Rover). A [C++](./rover_motor_controller_cpp) version and a [Python](./rover_motor_controller) version of the lx16a controller are included. Besides, a [PS3 joy controller](./rover_bringup/launch/joy_teleop.launch.py) and a [hokuyo laser](./rover_bringup/launch/urg_node.launch.py) can be used.
[](https://opensource.org/license/mit) [](https://github.com/mgonzs13/ros2_rover/releases) [](https://github.com/mgonzs13/ros2_rover?branch=humble) [](https://github.com/mgonzs13/ros2_rover/commits/maihumblen) [](https://github.com/mgonzs13/ros2_rover/issues) [](https://github.com/mgonzs13/ros2_rover/pulls) [](https://github.com/mgonzs13/ros2_rover/graphs/contributors) [](https://github.com/mgonzs13/ros2_rover/actions/workflows/python-formatter.yml?branch=humble) [](https://github.com/mgonzs13/ros2_rover/actions/workflows/cpp-formatter.yml?branch=humble)
| ROS 2 Distro | Branch | Build status | Docker Image | Documentation |
| :----------: | :------------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------------------: | ---------------------------------------------------------------------------------------------------------------------------------------------------------- |
| **Humble** | [`humble`](https://github.com/mgonzs13/ros2_rover/tree/humble) | [](https://github.com/mgonzs13/ros2_rover/actions/workflows/humble-docker-build.yml?branch=humble) | [](https://hub.docker.com/r/mgons/rover/tags?name=humble) | [](https://mgonzs13.github.io/ros2_rover/) |
| **Iron** | [`humble`](https://github.com/mgonzs13/ros2_rover/tree/humble) | [](https://github.com/mgonzs13/ros2_rover/actions/workflows/iron-docker-build.yml?branch=humble) | [](https://hub.docker.com/r/mgons/rover/tags?name=iron) | [](https://mgonzs13.github.io/ros2_rover/) |
## Table of Contents
1. [Installation](#installation)
2. [Usage](#usage)
- [Linux Service](#linux-service)
3. [Docker](#docker)
4. [Gazebo Simulation](#gazebo-simulation)
5. [Citations](#citations)
## Installation
```shell
cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/ros2_rover
cd ~/ros2_ws
rosdep install --from-paths src -r -y
colcon build
```
## Docker
You can create a docker image to test this repo. Use the following common inside the directory of ros2_rover.
```shell
docker build -t rover .
```
After the image is created, run a docker container with the following command.
```shell
docker run -it --rm rover
```
## Usage
```shell
ros2 launch rover_bringup rover.launch.py
```
### Linux Service
A Linux service can be created to control the execution and launch everything at boot time. To create the rover service, the following commands are used:
```shell
cd ~/ros2_ws/src/ros2_rover/rover_service
sudo ./install.sh
```
Check rover service:
```shell
sudo service rover status
```
## Gazebo Simulation
### Moon
```shell
ros2 launch rover_gazebo moon.launch.py
```
### Mars
```shell
ros2 launch rover_gazebo mars.launch.py
```
### Forest
```shell
ros2 launch rover_gazebo forest.launch.py
```
## Citations
The `v0.7` version has been used in the work `Comparison of Concentric Surface Planetary Explorations Using an Ackerman Rover in a Lunar Simulation` from the `2024 International Conference on Space Robotics (iSpaRo)`.
```bibtex
@INPROCEEDINGS{10685849,
author={González-Santamarta, Miguel Á. and Rodríguez-Lera, Francisco J.},
booktitle={2024 International Conference on Space Robotics (iSpaRo)},
title={Comparison of Concentric Surface Planetary Explorations Using an Ackerman Rover in a Lunar Simulation},
year={2024},
volume={},
number={},
pages={239-244},
keywords={Spirals;Navigation;Moon;Cameras;Sensors;Visual odometry;Testing},
doi={10.1109/iSpaRo60631.2024.10685849}
}
```