megoldas_sim24 package

ROS 2 Python Package

Packages and Build

It is assumed that the workspace is ~/ros2_ws/.

Clone the Packages

cd ~/ros2_ws/src

git clone https://github.com/robotverseny/megoldas_sim24

Rviz 2D Overlay

sudo apt install ros-humble-rviz-2d-overlay*

Build ROS 2 Packages

cd ~/ros2_ws

colcon build --packages-select megoldas_sim24 --symlink-install

Run the ROS 2 Packages

Don't forget to source before ROS commands.

source ~/ros2_ws/install/setup.bash

ros2 launch megoldas_sim24 megoldas1.launch.py

ros2 run megoldas_sim24 simple_pursuit.py

ros2 launch megoldas_sim24 megoldas2.launch.py

ros2 run megoldas_sim24 follow_the_gap.py

Run the simulator

Tip

Use the megoldas_sim24 package with the robotverseny_gazebo24 simulator.

Build and run instructions of the simulator is described in the robotverseny_gazebo24 package.

After the simulaton packages are built and sourced, you can start the simulator, e.g. with the following command:

ros2 launch robotverseny_bringup roboworks.launch.py rviz:=true

Joystick Teleop Launch

This section explains how to use the joystick teleop to control your car using a joystick.

Install the joy Package

Ensure that the joy package is installed:

sudo apt-get install ros-humble-joy

Run the Joystick Teleop Launch File

To start the joystick teleop node, use the following command:

ros2 launch megoldas_sim24 car_teleop_launch.py

This will launch the joystick_teleop_node and joy_node nodes, allowing you to control your car using a joystick.

Joystick Controls

• Left Stick Vertical Axis: Controls the linear speed of the car.
• Left Stick Horizontal Axis: Controls the angular speed of the car.

Adjust the parameters in the joystick_teleop.py file as needed based on your joystick configuration and desired control behavior.

Tip: Check out joy_tester for configuring your joystick.

License

This project is licensed under the GNU General Public License v3.0 - see the LICENSE file for details.