pip install xacro
echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
mkdir -p robot_ws/src
cd robot_ws/src
git clone [email protected]:aslab/igt_mine.git
cd ..
rosdep update
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
colcon build --symlink-install
Simulation
Source workspace:
source ~/robot_ws/install/setup.bash
Launch the simulation:
ros2 launch igt_mine igt_ignition.launch.py
List ROS and ignition topics, most ignition topics are mapped:
ros2 topic list
ign topic -l
Echo ROS and ignition topics:
ros2 topic echo /odom
ign topic -e -t /model/igt_one/odometry
Send ROS topics or ignition topics:
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}'
ign topic -t "/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 0}, angular: {z: 0.0}"