requirements

• ROS 2 humble
• Gazebo fortress
• Following apt pkgs
  • ros-humble-xacro
  • ros-humble-ros-ign
  • xterm

usage

launch

• launch robot in field

ros2 launch holonomic_sim holonomic_sim.launch.py

teleop

• User can teleop this holonomic robot using teleop keyboard on GUI
• Or sending ROS2 /cmd_vel topic from rqt
• Or connect joy controller
• Ofcourse, user made ros2 node publish /cmd_vel is available

image

simulation

visualization using rviz2

watch robot vel using ros2