Create a workspace folder (eg. ros2_ws)
In the workspace folder create an src folder
Clone this repo inside the src folder
cd .. to go back to the ros2_ws directory, and then create your ros package with colcon build --symlink-install
cd ros2_ws/
source install/setup.bash
source /opt/ros/foxy/setup.bash
Stay in ros2_ws directory when launching files from this project.
Recommended in order in separate terminal tabs
Robot State Publisher: ros2 launch billee_bot rsp.launch.py
Joint State Publisher GUI: ros2 run joint_state_publisher_gui joint_state_publisher_gui
RViz (from ~/ros2_ws): rviz2 -d src/billee_bot/config/view_bot.rviz
RSP with Gazebo world: ros2 launch billee_bot launch_sim.launch.py world:=./src/billee_bot/worlds/cone_obstacles.world
Rviz Config: rviz2 -d src/billee_bot/config/depth_camera.rviz
Teleop Keyboard Control: ros2 run teleop_twist_keyboard teleop_twist_keyboard