Atreus for ROS 2 - Jazzy

This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as a Depth Camera, LiDAR, GPS, and an IMU.

Installation

1. Dev Container (Recommended)

• Install the Dev Containers extension for Visual Studio Code.

• Open the repository in Visual Studio Code and select Reopen in Container from the Command Palette (Ctrl+Shift+P). This will build the development container with all the necessary dependencies.

2. Native Installation

• Clone the repository for responsible for driving the robot using arrow keys:

  cd $ROS_WS/src/
  git clone git@github.com:leander-dsouza/key_teleop_ros.git

• Install all the required ROS related dependencies:

  rosdep install --from-paths $ROS_WS/src --ignore-src -r -y

• Build the packages:

  colcon build --symlink-install --packages-select atreus key_teleop_ros

Tutorial

1. RViz Joint Visualization

• Launch the robot in RViz:

  ros2 launch atreus rviz.launch.py

  atreus_rviz.mp4

2. Teleoperation in Gazebo

• Launch the robot in Gazebo:

  ros2 launch atreus gazebo.launch.py

• Open a new terminal and run the teleoperation node:

  ros2 run key_teleop_ros key_drive

  Use the arrow keys to control the robot's movement.

  

  atreus_teleoperation.mp4

3. Mapping

• Launch the robot in Gazebo with the SLAM Toolbox:

  ros2 launch atreus slam_toolbox.launch.py

  This will start the mapping process using SLAM Toolbox.

• Open a new terminal and run the teleoperation node:

  ros2 run key_teleop_ros key_drive

  This will allow you to map the environment by driving the robot around.

  atreus_mapping.mp4

• In order to save the map, open a new terminal and run the following command:

  ros2 run nav2_map_server map_saver_cli -f my_map

  This will save the map to the current directory.

4. Navigation

• Launch the robot in Gazebo with the Navigation Stack:

  ros2 launch atreus nav2.launch.py

• Set the initial pose of the robot in RViz by clicking on the 2D Pose Estimate button:

  nav2_initial_pose.mp4

• Use the 2D Nav Goal button in RViz to set a goal for the robot to navigate to:

  nav2_atreus.mp4

💾 EOF