Differential Drive Robot

Step 1: Clone the repository

cd dev_ws/src
git clone [email protected]:oc-robotics/differential_drive_robot.git

Step 2: Build the package (make sure you are running the following commands within NoVNC)

colcon build --symlink-install

Step 3: Source the setup

source install/setup.bash

Step 4: Run the Gazebo simulation

ros2 launch differential_drive_robot launch_sim.launch.py

Step 5: Driving the Robot (open a new tab of current terminal and run the following command line)

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Note: If using ros2_control plugin, /cmd_vel must be remapped as follows:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped

---

Note: Opening the obstacle world

gz sim /ocr/dev_ws/src/differential_drive_robot/worlds/obstacle_world.sdf

Important: If unable to find or download the file, run this command:

export GZ_SIM_RESOURCE_PATH=/ocr/dev_ws/src/differential_drive_robot/worlds

---

Camera Usage:

Opening up Rviz to show camera footage (open a new tab of current terminal and run the following command line)

 rviz2 -d src/differential_drive_robot/config/diff-drive.rviz

1. Once opened Rviz, select camera_link_optical under Displays -> Global Options -> Fixed Frame

2. Click the Add Button and select image

3. Select /camera/image_raw under Displays -> image -> Topic