SCR 2022-23's general systems; General range components used in different rover modules
Install dependencies and tools using systems_setup.bash
rviz2 -d src/systems_2022_23/helios/config/view_bot.rviz
Visualize URDF Rover (from ros2_ws) Terminal 1 (robot state publisher): ros2 launch helios rsp.launch.py Terminal 2 (robot visualizer): rviz2 -d src/systems_2022_23/helios/config/view_bot.rviz Terminal 3 (joint state emulator): ros2 run joint_state_publisher_gui joint_state_publisher_gui
Run Simulation and Control Rover (from ros2_ws) Terminal 1 (robot state publisher + simulation): ros2 launch helios gazebo_sim.launch.py Terminal 2 (robot visualizer): rviz2 -d src/systems_2022_23/helios/config/view_bot.rviz Terminal 3 (keyboard controller): ros2 run ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped
Run keyboard controller (from ros2_ws)