SLAMBOT

Installation

The package was made using ROS2 Humble

Dependencies

You need to have installed:

1. ros-xacro:

   sudo apt install ros-<ros2-distro>-xacro

2. ros-joint-state-publisher:

   sudo apt install ros-<ros2-distro>-joint-state-publisher-gui

3. gazebo-ros:

   sudo apt install ros-<ros2-distro>-gazebo-ros-pkgs

4. ros2-control and ros2-controllers:

   sudo apt install ros-<ros2-distro>-ros2-control ros-<ros2-distro>-ros2-controllers

5. colcon:

   sudo apt install python3-colcon-common-extensions

🔨 Design

The design was made in fusion360 and used a fusion2urdf exporter to obtain the urdf files needed

🔨 How to build

To build the packages in this repository follow these steps:

1. cd into an existing or create a new workspace

   mkdir -p slambot/src

2. clone this repository in the src folder of your workspace

   cd slambot/src

   git clone https://github.com/odobot/slambot.git

3. Naviage back to the workspace folder

   cd ../

4. build the workspace using the colcon build tool

   colcon build --symlink-install

5. source the setup.bash file

   source install/setup.bash

6. You can add the setup.bash file on the bashrc script file, just open the file and add it at end:

   gedit ~/.bashrc

   source ~/slambot/install/setup.bash

🎥 Rviz

To view the urdf in rviz open 3 terminals:
On the first terminal (needs to the terminal you sourced your setup.bash file in) type:

  ros2 launch slambot robot_description.launch.py

Second terminal

 rviz2

In rviz for the Fixed frame use base_link add RobotModel at the Displays under the robot model there is Description topic add /robot_description.

Third terminal

 ros2 run joint_state_publisher_gui joint_state_publisher_gui

🎥 Gazebo

To launch your robot arm in gazebo, run:

 ros2 launch slambot gazebo.launch.py