Module #2: ROS2 Communication and Turtlesim Driving

Module # 2 Overview :

• package : drive_mobile_robot
• Package turtlesim is utilized to learn ROS2 Communnication sytem containing
  • Messages
  • Topics
  • Nodes
  • Launch Files

Dependencies

• Ubuntu 22.04 LTS
• Vscode
• ROS2 Humble
• Turtlebot3 Package

Running Project

• Create you own workspace

  mkdir -p ~/robotisim_ws/src
  cd ~/robotisim_ws/src
  

• Clone repository

  git clone https://github.com/Robotisim/robotics_software_engineer.git
  

• Install Dependencies

   cd ~/robotisim_ws/
   rosdep install --from-paths src --ignore-src -r -y
  

• Build your workspace

  colcon build && source ~/robotisim_ws/install/setup.bash
  

• Run turtlesim launch file

  ros2 launch  drive_mobile_robot multi_turtle_drive.launch.py
  

• Running Turtlebot3 Launch file

  export TURTLEBOT3_MODEL=waffle_pi
  ros2 launch  drive_mobile_robot turtletbo3_drive.launch.py