higgs2_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 ~/rob_igni/src
cd ~/rob_igni/src
git clone https://github.com/aslab/HiggsModel.git higgs2
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 higgs2 launch_sim.launch.py  

• Teleoperate the robot: (or with joystick)

ros2 run teleop_twist_keyboard teleop_twist_keyboard

• For NAV2:

ros2 launch higgs2  navigation_launch.py use_sim_time:=true map_subscribe_transient_local:=true

Launch the real robot

First make sure you clone the hardware interface, differential drive, lidar and serial communication:

cd ~/rob_igni/src
git clone https://github.com/AlvaroBarry/ros_arduino_bridge.git

git clone https://github.com/joshnewans/serial

git clone https://github.com/AlvaroBarry/diffdrive_arduino.git -b foxy

git clone https://github.com/ros-drivers/urg_node.git

cd ..
colcon build --symlink-install
source install/setup.bash

• Launch real robot

 ros2 launch higgs2 launch_robot.launch.py  

• If there is a problem with permission try this:

sudo chmod 666 /dev/ttyACM0

• For AMCL localization and choosing initial pose:

ros2 launch higgs2 localization_launch.py use_sim_time:=false

• For NAV2:

ros2 launch higgs2  navigation_launch.py use_sim_time:=false map_subscribe_transient_local:=true