rover_bot

---

this is a six drive wheel robot with a rocker-bogie mechanism.
It has it own drive controller and can climb rough uneven terrain
easily

clone (git clone git@github.com:samuko-things/mobo_bot.git) or Download
the repo or in your ROS2 workspace, build, and source it.

Prequisite

• install ros humble if you haven't - ros humble PC installation

• install gazebo classic and all it's ros packages (Pls note gazebo classic will reach its EOL by January 2025)

sudo apt install ros-humble-gazebo-ros-pkgs
sudo apt install ros-humble-gazebo-ros2-control

Create ROS Workspace And Download and Setup mobo_bot Packages

• create your <ros_ws> in the home dir. (replace <ros_ws> with your workspace name)

  mkdir -p ~/<ros_ws>/src
  cd ~/<ros_ws>
  colcon build
  source ~/<ros_ws>/install/setup.bash

• cd into the src folder of your <ros_ws> and download the rover_bot packages

  cd ~/<ros_ws>/src
  git clone https://github.com/samuko-things/rover_bot.git

• build your <ros_ws>

  cd ~/<ros_ws>/
  colcon build --symlink-install

• don't forget to source your <ros_ws> in any new terminal

  source ~/<ros_ws>/install/setup.bash

Basic Launch

• to view robot in rviz:

    ros2 launch rover_bot_description view.launch.py

• to spawn robot in gazebo:

    ros2 launch rover_bot_description spawn.launch.py

• to spawn robot in gazebo with a test terrain:

    ros2 launch rover_bot_description spawn_with_terrain.launch.py

• to spawn robot in gazebo and view in RVIZ simultaneously (although with some transorm issues):

    ros2 launch rover_bot_description spawn_and_view.launch.py

you can drive it around using the teleop_twist_keyboard package or you can also use the pynput_teleop_twist_keyboard package I wrote.

How to drive rover_bot

• before you can drive the rover_bot, you'll need to first start the drive controller after launching the simulation

• to launch the drive controller node, open a new terminal, source your workspace and run the following

    ros2 run rover_bot_drive_controller drive_controller

• you should now be able to drive the rover_bot with the telop package

• I recommend driving the rover_bot with the arrow_key_teleop_drive package I created to make driving robot easy using just your keyboard arrow keys.

• if you,ve downloaded and build the arrow_key_teleop_drive, run this command to drive the robot. don't forget to source your workspace.

  ros2 run arrow_key_teleop_drive arrow_key_teleop_drive

  OR

  ros2 run arrow_key_teleop_drive arrow_key_teleop_drive <v in m/s> <w in rad/sec>