readme.md

This repository is for the second revision or the ezBot robot that can be seen at [insert link of ensmasteel's repo] Here can be found ROS2 humble nodes, launch files, and simulation tools for the new robot. To see the elctronics design, see [insert other repository]. For the CAD design, see [insert catia repository]

For the simulation, the following dependencies need to be installed : nvidia-container-toolkit

Running the simulation

Docker and nvidia-container-toolkit are supposed to be installed on the host machine.

Clone the repository and build the docker image :

git clone https://github.com/VincidaB/ezBotV2.git
cd ezBotV2
./docker/build-all.sh
./docker/run.sh

Inside of the container :

colcon build --symlink-install
source install/setup.bash
ros2 launch ezbot-v2-simulation multirobot-simulation.launch.py

or for a single robot simulation :

ros2 launch ezbot-v2-simluation simulation.launch.py

Note ⓘ : for systems with low RAM (<16Gb), it is recommended to compile using colcon build --symlink-install --executor sequential to avoid running out of memory.

Launching nav2 :

ros2 launch ezbot-v2 nav2.bringup.launch.py use_sim_time:=true params_file:=src/ezbot-v2/config/nav2_params.yaml map:=src/ezbot-v2/maps/testMap/testMap.yaml

Need to add static publisher for the map :

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 robot1/map robot1/odom