sKratchBOT, a mobile robot with a custom-made base using Kelo wheels and a Kinova 7-DOF Manipulator, developed for the b-it bots team for the RoboCup @Work League
- Minimun Ubuntu 22.04
- Ros humble (see installation guide)
sudo apt install -y ros-humble-gazebo-ros-pkgs gazebo libgazebo-dev python3-colcon-common-extensions ros-humble-xacro ros-humble-joint*
- Create a ROS 2 Workspace
mkdir -p ~/skratch_ws/src
cd ~/skratch_ws/src
- Clone the Repository
git clone git@github.com:AnudeepSajja/sKratch.git .s
- Build the Workspace
Navigate to the workspace root and build:
cd ~/skratch_ws
colcon build --symlink-install --packages-select package_name
Currently available packages:
colcon build --symlink-install --packages-select skratch_description skratch_gazebo
- Run Gazebo Simulation
Source the setup file and launch Gazebo:
source ~/skratch_ws/install/setup.bash
ros2 launch skratch_gazebo gazebo.launch.py
once the robot is launched you can use teleop twist keyboard to control the roobt.
ros2 run teleop_twist_keyboard teleop_twist_keyboard