Module #3: Transforms , URDF and Custom Robots

Module # 3 Overview :

• package : custom_robots
• We will create URDF for a mobile robot in Rviz and then Gazebo with added physical properties.
  • Links Joints
  • Custom Robots
  • Rviz and Gazebo simulations
  • URDF

Dependencies

• Ubuntu 22.04 LTS
• Vscode
• ROS2 Humble

Running Project

• Create you own workspace ( if not done already )

  mkdir -p ~/ros2_my_ws/src
  cd ~/ros2_my_ws/src
  

• Clone repository ( if not done already )

  https://github.com/Robotisim/robotics_software_engineer.git
  

• Install dependencies

  cd ~/robotisim_ws/
  rosdep install --from-paths src --ignore-src -r -y
  

• Build your workspace

  colcon build && source ~/ros2_my_ws/install/setup.bash
  

• Run Rviz Robot

   ros2 launch custom_robots rviz.launch.py
  

• Run Gazebo Robot

   ros2 launch custom_robots gazebo.launch.py