Usage

Source the setup file from project directory on every new shell you open:

source install/setup.bash # (1)!

1. Replace ".bash" with your shell.
   Possible values are:
   • setup.bash
   • setup.sh
   • setup.zsh

Optional

For convenience, you can include this command in the bash file for automatic execution each time you open a new terminal. Run the command from twr directory:

echo "source $(pwd)/install/setup.bash" >> ~/.bashrc

Model preview in RViz2

Use this launch file to see model preview in RViz2:

ros2 launch twr_bringup rviz2.launch.py

As a result, the RViz2 will be launched with a robot model without simulation:

Start simulation in Gazebo Sim

The following command will launch the main bringup file for the robot in the simulation:

ros2 launch twr_bringup twr_bringup.launch.py

Alternatively, you can use a helper script to get started quickly:

chmod 700 scripts/host/rebuild_and_launch.bash && 
./scripts/host/rebuild_and_launch.bash # (1)!

1. For more information, see scripts description.

Control

Keyboard control

Use the teleop_twist_keyboard package to implement basic keyboard control:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args \
  -r /cmd_vel:=/diff_drive_controller/cmd_vel \
  -p stamped:=True

Set goal point

This function is implemented based on the Nav2 framework.
Use the 2D Goal Pose function in RViz2 to set the desired position:

Now you can choose any position and orientation of the robot on the presented map: