BartRover is a 6WD differential drive controlled bot built in ROS2
Build and code is based heavily on the tutorials of Articulated Robotics: https://articulatedrobotics.xyz/ (Shout-out, one of the best ROS2 tutorials out there)!
Build 002 ROS2 version: Humble
Capabilities: remote control via ros2_control, camera only sensor. Future builds (plans) to add lidar, self navigation, etc. Launch files for both simulation and real bot also concurrently launch foxglove_bridge. Joystick and or keyboard launch commands optional depending on foxglove setup.
Concurrent requirements (place packages in src directory):
diffdrive_arduino: -b humble https://github.com/joshnewans/diffdrive_arduino
serial: https://github.com/joshnewans/serial
Simulation:
My launch codes (commands):
ros2 launch bartrover launch_sim.launch.py world:=./src/bartrover/worlds/neighborhood.world
[optional] sudo xboxdrv --silent
[optional] ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox'
Real Robot:
My launch codes (commands):
ros2 launch bartrover launch_robot.launch.py
[optional] ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped