Introduction_to_Integrated_Robotics_slot_18

A repository containing all the materials for the PESU IO course Introduction to Integrated Robotics

Dual Booting System with Ubuntu 22.04

To dual boot your systems please refer to this youtube link: https://www.youtube.com/watch?v=UmPL54WKlaU&ab_channel=Buzz2dayTech

Ubuntu 22.04 iso download link: https://releases.ubuntu.com/jammy/

Installation

Arduino IDE 2

Refer this link: https://www.arduino.cc/en/software Please download the zip file and extarct it on your ubuntu desktop.

ROS2 Humble

Refer this link: https://docs.ros.org/en/humble/Installation.html

Gazebo

Open terminal and run:

sudo apt-get install gazebo11

Check the installation:

gazebo

Rviz

Usualy installed with ROS2 packages, run the command below to check:

rviz2

Robot Simulation

Open Terminal and run the below commands:

1. Creating your workspace

   mkdir -p ~/iir_ws/src

2. Cloning this Repository

   git clone https://github.com/Varchasvin10/Introduction_to_Integrated_Robotics_slot_18.git

3. Building your workspace

   cd
   cd ~/iir_ws
   colcon build

4. Running Rviz and Gazebo Simulation First we have to source our workspace:

   source install/setup.bash

   Launching the Simulation in Rviz and Gazebo:

   ros2 launch iir display.launch.py

   To run only Gazebo:

   ros2 launch iir gz.launch.py

5. Using Teleop keys to control the simulated robot

   ros2 run teleop_twist_keyboard teleop_twist_keyboard