ROS2 HDR

In this project, a holonomic drive robot called duke is designed and simulated to learn ROS2 and Nav2 Stacks.

In this project, we have designed the duke bot for exploring the ros2 navigation stack. Feel free to use this repo for your project.

Pre-requisite

• ROS2 Humble 🔗 with Gazebo

  While installing ROS2 make sure you use this command.

  sudo apt install ros-humble-desktop-full # Instead sudo apt install ros-humble-desktop
  

  Check whether Gazebo-11 is installed using the following command.

  gazebo --version
  

If the gazebo is not recognized, install gazebo-11 using this link. Make sure to use the appropriate distro in the command.

• ROS2 binary packages

  sudo apt-get install ros-humble-rosidl-typesupport-c
  sudo apt-get install ros-humble-joint-state-publisher
  sudo apt-get install ros2-controllers -y
  sudo apt-get install ros-humble-turtle-tf2-py ros-humble-tf2-tools ros-humble-tf-transformations
  sudo pip3 install transforms3d
  

Sourcing

source ROS2 and Gazebo setup.bash in the ~/.bashrc file.

# For Colcon Auto-Completion
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
# ROS 2 Bash
source /opt/ros/humble/setup.bash
# Gazebo 11 Bash
source /usr/share/gazebo-11/setup.sh
# ROS2 Workspace
source ~/<ROS2-Workspace>/install/setup.bash

Repository Structure

• assets – images for docs are added.
• designs – duke bot design in Fusion360, SolidWorks and SketchUp Format are attached.
• duke_bot_description – ROS2 python package containing all the files related to holonomic drive robot for simulation
• hdr_navigation – ROS2 python package to explore the navigation stack using the duke bot in gazebo simulation
• nav_world – ROS2 CPP package containing all the files related to add simulation world in the gazebo

Demonstration

Project Members

Hari Vikinesh, Jerish Abijith Singh