questbot_description

Overview

This repository contains the ROS2 launch files, descriptions, and configurations for the QuestBot robot. The project is designed to work with different modules like robot state publishing, RViz visualization, and more, making it easy to set up and extend.

🧑‍💻 Setup

1. 📂 Clone the repository

mkdir -p ~/ros_ws/src
cd ~/ros_ws/src
git clone  https://github.com/manojm-dev/questbot_description.git

2. 📦 Install dependencies

cd ~/ros_ws
sudo apt-get update -y && rosdep update && rosdep install --from-paths src --ignore-src -y

3. 🛠️ Building the packages

cd ~/ros_ws
colcon build

Usage

Launching Robot State Publisher

To launch the robot state publisher and visualize the robot in RViz:

ros2 launch questbot_ros2_project rsp.launch.py

Launching Robot State Publisher with Joint State and RViz Visualization

To launch the robot state publisher, joint state publisher, and RViz visualization in one go:

ros2 launch questbot_ros2_project display.launch.py

Launch File Details

rsp.launch.py

This launch file starts the robot_state_publisher node, which reads the URDF description of the robot and publishes it to the ROS2 topic /robot_description. It is designed to work with a simplified setup where you only need to publish the robot's state.

display.launch.py

This launch file starts:

• robot_state_publisher: Publishes the robot's state.
• joint_state_publisher: Simulates joint states.
• rviz2: Opens RViz with a custom configuration to visualize the robot’s state.

👨‍💻 Author

Made with ❤️ by Manoj M