Teleop twist driving demo for ROSbot 2R, ROSbot 2 PRO and ROSbot 2.0.
Clone the repository:
git clone https://github.com/husarion/rosbot-docker
cd rosbot-docker
In the .env file, you have the option to modify the lidar baudrate and enable the mecanum controller if necessary.
In the net.env file you can change network configuration.
Sync workspace with ROSbot
./sync_with_rosbot.sh <ROSbot_ip>
In the ROSbot's shell execute (in the /home/husarion/rosbot-docker/demo directory)
docker compose -f compose.yaml up
If you don't have Nvidia GPU replace *gpu-config with *cpu-config in rosbot service inside compose.gazebo.yaml file.
In the PC's shell execute (in the demo/ directory):
xhost local:root
docker compose -f compose.gazebo.yaml up
If you want to use multiple robots check the compose.gazebo.multirobot.yaml (in the demo/ directory):
xhost local:root
docker compose -f compose.gazebo.multiplerobot.yaml up
In another shell (if you use hardware use another ROSbot's shell) enter the docker container:
docker exec -it demo-rosbot-1 bash
and run inside teleop_twist_keyboard to drive the ROSbot
ros2 run teleop_twist_keyboard teleop_twist_keyboard
In case of driving one of the robot running compose.gazebo.multirobot.yaml add the namespace to the teleop_twist_keyboard. For the robot1:
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/robot1
With keys i, j, l, , you can drive forward, counter clockwise, clockwise and backwards. If you are using macanum wheels (see demo/.env file) hold Shift key that way the ROSbot goes left and right with j and l keys instead rotates.