rm2_simulation

Simulation of UPM robot with Gazebo (Ignition) Citadel and ROS2 Foxy.

Install

Create workspace and clone this repo:

source /opt/ros/foxy/setup.bash
mkdir -p ~/rm2_ws/src
cd ~/rm2_ws/src
git clone git@github.com:robominers-eu/rm2_simulation.git
cd ..
rosdep update
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy 
colcon build --symlink-install
source install/setup.bash

Launch the simulation

• First execute the simulation

 ros2 launch rm2_simulation rm2_sim.launch.py  

• Teleoperate the robot:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

To generate an updated URDF

Make sure you have installed xacro, install it using:

install sudo apt install ros-foxy-xacro 

Navigate to the appropiate folder:

cd ~/rm2_ws/src/rm2_simulation/urdf

Execute the conversion:

xacro rm2.urdf.xacro > rm2.urdf

The generated URDF is available in that folder.