Simulation of UPM robot with Gazebo (Ignition) Citadel and ROS2 Foxy.
Create workspace and clone this repo:
source /opt/ros/foxy/setup.bash
mkdir -p ~/rm2_ws/src
cd ~/rm2_ws/src
git clone [email protected]:robominers-eu/rm2_simulation.git
cd ..
rosdep update
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
colcon build --symlink-install
source install/setup.bash
- First execute the simulation
ros2 launch rm2_simulation rm2_sim.launch.py
- Teleoperate the robot:
ros2 run teleop_twist_keyboard teleop_twist_keyboard
Make sure you have installed xacro, install it using:
install sudo apt install ros-foxy-xacro
Navigate to the appropiate folder:
cd ~/rm2_ws/src/rm2_simulation/urdf
Execute the conversion:
xacro rm2.urdf.xacro > rm2.urdf
The generated URDF is available in that folder.