A ROS2 package for controlling a mecanum-wheel robot in Gazebo simulation using the ros2_control. All examples you can find here gz_ros2_control

System Requirements

• Operating System: Ubuntu 24.04 LTS
• ROS2 Distribution: ROS2 Jazzy
• Gazebo: Gazebo Harmonic

Installation

apt-get update && apt-get install -y --no-install-recommends \
    ros-dev-tools \
    python3-colcon-common-extensions \
    ros-jazzy-teleop-twist-keyboard \
    ros-jazzy-ros2-control \
    ros-jazzy-ros2-controllers \
    ros-jazzy-controller-manager \
    ros-jazzy-ros-gz \
    ros-jazzy-ros-gz-bridge \
    ros-jazzy-ros-gz-sim \
    ros-jazzy-gz-ros2-control \
    ros-jazzy-xacro 

Build the Package

# Create workspace and clone repository
mkdir -p ~/robot_ws/src
cd ~/robot_ws/src
git clone https://github.com/GoodLuckMister/robot_control.git

# Build the package
cd ~/robot_ws
colcon build --packages-select robot_control
# Source the workspace
source install/setup.bash

Usage

Launch the Robot Simulation

# Source your workspace
source ~/robot_ws/install/setup.bash

# Launch the robot in Gazebo
ros2 launch robot_control robot_drive.launch.py

This will:

1. Start Gazebo with an empty world
2. Spawn the robot

Control the Robot

The robot can be controlled by keyboard:

# Launch another terminal 
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true

License

This project is licensed under the Apache License 2.0.