Tank ros project

Tank launch project packages:

• ros_tank_logic
• ros_tank_gazebo
• ros_tank_navigation
• ros_tank_description

Then change value param for tank launcher:

Commands for starting the project:

1. download file - arduino/ros_tank.ino to arduino

2. Connect via ssh to jetson ssh name@192.168.0.140 exec following commands: cd ros_tank ./run_jetson.bash ros2 launch ros_tank_control ros_tank_control_diff.launch.py

Command to check: available cameras: ls /dev | grep video* available lidar: ls -l /dev |grep ttyUSB

lsusb - get list USB devices sudo chmod 666 /dev/ttyUSB0 or /dev/ttyACM0

3. In PC terminal ./run.bash ros2 launch ros_tank_logic ros_tank_rviz.launch.py

4. Another PC terminal ./exec.bash ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/diff_drive_controller/cmd_vel_unstamped

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For simulation:

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. /usr/share/gazebo/setup.sh

ros2 launch ros_tank_logic ros_tank_sim.launch.xml

• ros2 launch ros_tank_gazebo start_world.launch.py

• ros2 launch ros_tank_logic ros_tank_rviz_sim.launch.py

• ros2 launch ros_tank_gazebo spawn_robot.launch.py

ros2 run teleop_twist_keyboard teleop_twist_keyboard

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run joint state publisher node: ros2 run joint_state_publisher_gui joint_state_publisher_gui

run lidar node: ros2 launch rplidar_ros view_rplidar.launch.py ros2 launch rplidar_ros rplidar.launch.py

ros2 launch ros_tank_navigation rplidar.launch.py ros2 launch ros_tank_navigation camera.launch.py

ros2 launch ros_tank_control ros_tank.xml

checking camera: sudo apt-get install v4l-utils v4l2-ctl --list-devices

run camera node: ros2 run usb_cam usb_cam_node_exe --ros-args --params-file /ros2_ws/src/ros_tank_description/config/camera-params.yaml

ros2 topic pub --once /forward_position_controller/commands std_msgs/msg/Float64MultiArray " layout: dim: [] data_offset: 0 data:

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