Cengaver Rover Description

This package contains the URDF (Unified Robot Description Format) files and launch files for the Cengaver Rover, a mobile robot simulation using ROS 2 and Gazebo.

Installation

1. Clone the repository into your ROS 2 workspace:

   mkdir -p ros2_ws/src
   cd ros2_ws/src
   git clone <repository_url>
   git clone https://github.com/alpertng02/rover_teleoperation.git
   git clone https://github.com/alpertng02/mobility_controller.git
   git clone https://github.com/alpertng02/manipulator_controller.git
   git clone --recurse-submodules https://github.com/cengaverrover/bno055_ros2.git

2. Build the package:

   cd ../..
   sudo apt update && rosdep update
   rosdep install --from-path src --ignore-src -y
   colcon build

3. Source the workspace:

   source ~/ros2_ws/install/setup.bash

Usage

Launch Options:

You can use the following launch options to customize the launch files:

• use_rviz:=true/false - Enable or disable RViz. Default = false.
• use_foxglove:=true/false - Enable or disable Foxglove bridge. Default = true.
• use_control_usb:=true/false - Enable or disable control through usb. Default = true.
• use_ds4:=true/false - Enable or disable Duelshock 4 joy receiver. Default = false.
• use_bno055:=true/false - Enable or disable BNO055. Default = false.
• use_twist_mux:=true/false - Enable or disable Twist Mux. Default = false.
• use_sim_time:=true/false - Enable or disable sim_time. Default = false for rsp, true for sim launch files.

Launch Commands:

Launch rover

To launch the rover for the Cengaver Rover, use the following command:

ros2 launch cengaver_rover_description rover.launch.py

Launch robot_state_publisher

To launch the robot_state_publisher for the Cengaver Rover, use the following command:

ros2 launch cengaver_rover_description rsp.launch.py

Launch simulation

To launch the Cengaver Rover simulation in Gazebo and rviz, use the following command:

ros2 launch cengaver_rover_description launch_sim.launch.py

Launch slam simulation

ros2 launch cengaver_rover_description slam_sim.launch.py