ROS workspace

This repository includes sample codes to create your own robot using ROS.

All the bots related to my talk "Build Custom Robot in ROS" in Pycon Sweden is also added.

Contents

• Prerequisites
• Set Up
• Atom Bot
• Atom SDF
• Beta Bot
• Control Bots
• Autonomous Navigation

Prerequisites

Replace with noetic, melodic etc.

• ROS ($ sudo apt-get install ros-<version>-desktop-full)
• Xacro ($ sudo apt-get install ros-<version>-xacro)
• Gazebo ($ sudo apt-get install ros-<version>-gazebo-ros)

Set up workspace

git clone https://github.com/harshmittal2210/Robotics_ws/
cd Robotics_ws
git submodule update --init --recursive
catkin_make
source devel/setup.sh

Note: Do not add Robotics_ws in your catkin_ws/src

I am just using the folder name Robotics_ws instead of catkin_ws

Atom Robot

roslaunch atom world.launch

Atom Robot (SDF)

roslaunch atom gazebo_world.launch

Beta Robot

roslaunch beta_description gazebo.launch

Control the bot

Use teleop_twist_keyboard

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/atom/cmd_vel

Autonomous Navigation

Refer to doc here: Navigation

Author

👤 Harsh Mittal

Twitter: @harshmittal2210 Github: @harshmittal2210 Website: harshmittal.co.in

🤝 Contributing

Contributions, issues and feature requests are welcome!

Show your support

Give a ⭐️ if you think this project is awesome!

📝 License

Copyright © 2021 Harsh Mittal. This project is Apache License licensed.