README.md

Robot Package

Setup and Launch Instructions

1. Run SLAM Toolbox:

   ros2 launch slam_toolbox online_async_launch.py slam_params_file:=./src/robot_mobil/config/mapper_params_online_async.yaml use_sim_time:=true

   Note: For mapping, use synchronous launch instead.

2. Launch Simulation in Gazebo:

   ros2 launch robot_mobil launch_sim.launch.py world:=./src/robot_mobil/worlds/MapaSimulare.world

   Note: Specified a custom world in the launch command.

3. Start RViz2:

   rviz2 -d dev_ws/src/robot_mobil/config/main_bot.rviz

   Note: Specified a custom config in the launch command.

4. Control Robot with Keyboard:

   ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_controller/cmd_vel_unstamped

Joystick Setup

1. Install Joystick Drivers:

   sudo apt install joystick jstest-gtk evtest

2. Launch Joystick Control:

   ros2 launch robot_mobil joystick.launch.py

   Configured for Xbox Series X controller. For configuring another controller, use the joy_tester repo.

Additional Notes

• If you want to configure another joystick, install and use the joy_tester repo in your workspace:

  cd your_workspace
  git clone https://github.com/joshnewans/joy_tester.git
  colcon build --symlink-install

  Ignore the deprecation warnings.

• LIDAR Visualization:

  • Toggle the visualize parameter in lidar.xacro between true/false.

• RViz Visibility:

  • For better camera visibility, uncheck the robot model, grid model, etc.

• Important:

  • Update Ubuntu OS and all ROS2 tools to the latest version.
  • Perform a fresh rebuild of the project:

    cd your_workspace
    rm -rf build install log
    colcon build --symlink-install