README.md

My first robot

Commands

Source

source /home/mikaeltrana/Documents/robot/install/local_setup.bash

Build Ros

colcon build --symlink-install

Generate new xacro file for sim mode

xacro /home/mikaeltrana/Documents/robot/my_bot/src/diff_drive_robot/description/models/urdf/robot.urdf.xacro>/home/mikaeltrana/Documents/robot/my_bot/src/diff_drive_robot/description/models/urdf/robot.urdf sim_mode:=true

Exanple using transform

ros2 run tf2_ros static_transform_publisher 2 1 0 0.785 0 0 world robot_1 ros2 run tf2_ros static_transform_publisher 1 0 0 0 0 0 robot_1 robot_2 ros2 run rviz2 rviz2

Run joint state publisher GUI

ros2 run joint_state_publisher_gui joint_state_publisher_gui

Start Rviz from config

rviz2 -d src/config/view_bot.rviz

source ./local_setup.bash ros2 launch ros_gz_example_bringup diff_drive.launch.py

Run lidar driver node

ros2 run rplidar_ros rplidar_composition --ros-args -p serial_port:=/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0 -p frame_id:=lidar_link -p angel_compensate:=true -p scan_mode:=Standard -p serial_baudrate:=115200

Installl Ros2 Control

sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-ign-ros2-control

Run keyboard controller for Ros2 controll

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

List ssh servers on local network

sudo nmap -p 22 192.168.86.0/24

Run slam

ros2 launch slam_toolbox online_async_launch.py slam_params_file:=/home/mikaeltrana/Documents/robot/my_bot/src/diff_drive_robot/bringup/config/mapper_params_online_async.yaml use_sim_time:=false

Use map saved from using slam and use it with map server

ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=test_map_v1.yaml -p use_sim_time:=true ros2 run nav2_util lifecycle_bringup map_server

Use AMCL localization with map from map server

ros2 run nav2_amcl amcl --ros-args -p use_sim_time:=true ros2 run nav2_util lifecycle_bringup amcl

Run nav2

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true

AMCL with localization server etc in one launch file

ros2 launch nav2_bringup localization_launch.py map:=/home/mikaeltrana/Documents/robot/install/description/share/description/maps/sollunden/van3.yaml use_sim_time:=true

Start Nav2 as well

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true map_subscribe_transient_local:=true

Ball tracker

ros2 run ball_tracker detect_ball --ros-args -p tuning_mode:=true -r image_in:=camera/image_raw

ros2 launch ball_tracker ball_tracker.launch.py params_file:=my_bot/src/diff_drive_robot/bringup/config/ball_tracker_params_robot.yaml

rviz2 -d my_bot/src/diff_drive_robot/bringup/config/robot.rviz

ros2 launch bringup ball_tracker.launch.py tune_detection:=true detect_only:=true

Display ball in 3d

ros2 run ball_tracker detect_ball_3d

Run follow ball

ros2 run ball_tracker follow_ball --ros-args -r cmd_vel:=cmd_vel_tracker

Republish compressed image as uncompressed locally

ros2 run image_transport republish compressed raw --ros-args -r in/compressed:=/camera/image_raw/compressed -r out:=/camera/image_raw/uncompressed

rqt image view

ros2 run rqt_image_view rqt_image_view

Joystick for controller

ros2 launch bringup joystick.launch.py use_sim_time:=false

Build single package

colcon build --packages-select gpt_chat

dev setup

open vs code from terminal code . install ros extension from MS isntall CMake extension from twxs

env variables

source ~/.zshrc

ros 2 control hardware

ros2 launch ros2_control_demo_example_2 diffbot.launch.py ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diffbot_base_controller/cmd_vel_unstamped