5LIU0_BalanceRobot

Control project to balance a simple low-cost robot

Authors: Martijn Strolenberg Tom Janssen-Bouwmeester

The following programs and exetensions are used

ROS2

1: ROS2 humble

To install ROS2 humble you can follow the official website instructions install: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

2: Gazebo version 11.10.2

install:

sudo apt install ros-humble-gazebo-ros-pkgs 

(to install gazebo with all ros dependencies)

3: RViz2

install:

sudo apt install ros-humble-rviz2

(ROS Extensions)

4: Colcon

install:

sudo apt install python3-colcon-common-extensions

5: Robot discription

install:

sudo apt install ros-humble-xacro ros-humble-joint-state-publisher-gui ros-humble-urdf-tutorial

6: ROS2_Control

install:

sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gazebo-ros2-control

7: teleop_key

install:

sudo apt install ros-humble-teleop-twist-keyboard

How to run the package

1: First make sure you installed all above programs

2: Clone the repository: (for example in home folder)

https://github.com/kubzzz/5LIU0_BalanceRobot.git

3: Copy the models in gazebo folder

navigate to repository home folder (5LIU0_BalanceRobot)

cp -r Gazebo/balance_robot/ $HOME/.gazebo/models/

to put all models in the gazebo directory

4: Make the ros package

navigate to the ros workspace directory

cd $HOME/5LIU0_BalanceRobot/balanceRobot_ws

Now build the ros package with

colcon build

Source the package with

source install/setup.bash

5: Run the simulation launch file

make sure your still in the ros workspace directory (balanceRobot_ws)

ros2 launch balance_robot rsp_sim.launch.py

Now Gazebo and RViz should open up and start the robot simulation

6: Control the robot with your keyboard

make sure your still in the ros workspace directory (balanceRobot_ws)

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Make sure the terminal running this is the active one, now if the robots wheels are not in the air you can drive it arround