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https://github.com/nhjschulz/ros2_dcs_turtlesim
ROS2 Package Wrapper for DroidControlShip TurtleSim Demo under Webots
https://github.com/nhjschulz/ros2_dcs_turtlesim
Last synced: about 1 month ago
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ROS2 Package Wrapper for DroidControlShip TurtleSim Demo under Webots
- Host: GitHub
- URL: https://github.com/nhjschulz/ros2_dcs_turtlesim
- Owner: nhjschulz
- License: mit
- Created: 2024-08-12T06:20:43.000Z (5 months ago)
- Default Branch: master
- Last Pushed: 2024-10-22T08:21:13.000Z (3 months ago)
- Last Synced: 2024-10-25T20:26:13.090Z (3 months ago)
- Language: Python
- Size: 96.7 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ros2_dcs_turtlesim
This project is a ROS2 Package wrapper for the TurtleSim demo with
DroidControlShip (DCS) and RadonUlzer (RU) robots under Webots.
These robot projects are build using PlatformIO. The ros2_dcs_turtlesim
package creates a ROS2 cmake wrapper around them and adds a launch
configuration for the turtle demo.
## Workspace Setup
### Checkout `ros2_dcs_turtlesim` into your ROS2 workspace
Go into the src folder of your ros2 workspace and checkout this
repository there:
cd ros2_webots_ws/src
git clone https://github.com/nhjschulz/ros2_dcs_turtlesim
### Checkout the dependend PlatformIO projects
Checkout the following PlatformIO projects to a fitting location.
This should not be inside your ROS workspace, as these are not ROS2
packages:
* RadonUlzer: https://github.com/BlueAndi/RadonUlzer
* DroidControlShip: https://github.com/BlueAndi/DroidControlShip (Branch feature/ROS2)
git clone https://github.com/BlueAndi/RadonUlzer
git clone https://github.com/BlueAndi/DroidControlShip
cd DroidControlShip
git checkout feature/ROS2
* Link the micro-ROS library to the lib folder of DCS
cd DroidControlShip/lib
ln -s ~/microros_ws/firmware/build libmicroros
Add the following environment variables which tell `ros2_dcs_turtlesim`
where the PlatformIO based projects are:
export DCS_HOME=
export RU_HOME=
## Building
Go into your ROS2 workspace and use the normal ROS2 commands for building
colcon build
source install/local_setup.bash
The first build must be the complete workspace. Later it is possible to
build only this package (and in verbose mode) use:
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_VERBOSE_MAKEFILE=ON --packages-select ros2_dcs_turtlesim
source install/local_setup.bash
> [!NOTE]
> If you get error ```fatal error: rcl/rcl.h: No such file or directory```, you forgot to link the micro-ROS library into
> the DCS workspace.
## Launching
The `ros2_dcs_turtlesim` includes a launch configuration. Run it using
ros2 launch ros2_dcs_turtlesim dcs_launch.py [args]
> [!NOTE]
> The argument ```launch_xrce:=true``` is required unless the xrce agent is already running as a demon or in another terminal.
Supported launcher arguments:
| Argument | Default | Description |
|---------------|----------------------|----------------------|
|world|world:=worlds/minimal/DcsMinimal.wbt| Launch Webots with given world file.|
|launch_webots|launch_webots:=true| Enable/Disable launch of Webots.|
|launch_ru|launch_ru:=true| Enable/Disable launch of RadonUlzer controller.|
|launch_dcs|launch_dcs:=true| Enable/Disable launch of DroidControlShip controller.|
|launch_xrce|launch_xrce:=false| Enable/disable launch of the XRCE agent process.|
|xrce_agent|xrce_agent:='/usr/local/bin/MicroXRCEAgent tcp4 -p 1883'|Define command line for XRCE agent.|
|log_redirect|log_redirect:=false| Enable/Disable output redirection of Webots controllers to Webots console.|
## Controlling the Robot
The robot listens to Twist messages similar to the ROS2 TurtleSim demo. The ```turtle_teleop_key``` tool can be used
to control it using the keyboard. Use the following command from a second terminal window for controlling the robot:
ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=/cmd_vel