This is my ROSJect documentation!
Autonomous boat ROSJect based on diff drive robot!
Feel free to donate some money for some beers is you consider this useful!
To use this project, install:
-
Ubuntu 20.04
-
ROS2 foxy
To run this project, the following should be done:
git clone https://github.com/Hercogs/boat_simulation_pkg.git
colcon build && source install/setup.bash
source install/setup.bash && ros2 launch robot_boat_gazebo_pkg start_world.launch.py
source install/setup.bash && ros2 launch robot_boat_gazebo_pkg spawn_robot_ros2_utm.launch.py
Now you should see Gazebo world with fantastic boat
You can use following topics:
- robot_boat/cmd_vel (to control robot velocity)
- robot_boat/gps
- robot_boat/laser_scan (to get laser scan data)
- robot_boat/gps_utm (to get UTM coordinates)
- robot_boat/pose_p3d (to get robot pose for simulating compass in RVIZ)
- robot_boat/azimuth_north (compass topic)
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=robot_boat/cmd_vel
rviz2 -d rviz.rviz
source install/setup.bash && ros2 launch filter_pkg ukf_node.launch.py
- Laser scan min dist is 1,2 meters