Project #1: Multi Turtlesim Driving

Issue Link #1

Project Overview

This ROS2 project simulates and controls multiple Turtlesim robots . It demonstrates how to spawn multiple robots, launch them and control them to move in square trajectories.

Install Dependencies

• sudo apt-get install ros-humble-teleop-twist-keyboard

Running Project

• Clone the repository into your ROS2 workspace (if not done already) using:

  git clone -b running_projects https://github.com/Robotisim/mobile_robotics_ROS2.git
  

• Build your workspace and source it ( assuming you are in worksapce root directory) , run the following command

  colcon build && source install/setup.bash
  

• Open a terminal and run the following command to launch the Multi Turtlesim Driving Simulation:

  ros2 launch drive_turtle p1_d_run_multi_turtlesim_drive.launch.py
  

Learning Outcomes

• How to create a ROS2 package
• How to create a ROS2 node
• How to create a ROS2 launch file
• Adding nodes to CmakeLists.txt

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