This is a ROS 2 (Humble) version of the Sawppy the Rover. A C++ version and a Python version of the lx16a controller are included. Besides, a PS3 joy controller and a hokuyo laser can be used.
$ cd ~/ros2_ws/src
$ git clone https://github.com/mgonzs13/ros2_rover
$ cd ~/ros2_ws
$ rosdep install --from-paths src -r -y
$ colcon build
$ ros2 launch rover_bringup rover.launch.py
A Linux service can be created to control the execution and launch everything at boot time. To create the rover service, the following commands are used:
$ cd ~/ros2_ws/src/ros2_rover/rover_service
$ sudo ./install.sh
Check rover service:
$ sudo service rover status
$ ros2 launch rover_gazebo moon.launch.py
$ ros2 launch rover_gazebo mars.launch.py
$ ros2 launch rover_gazebo forest.launch.py