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higgs2_simulation

Simulation of UPM robot with Gazebo (Ignition) Citadel and ROS2 Foxy.

image image

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