bachelor-project

Getting Started

Install ROS2 Foxy

Use the tutorial from this link

Install Webots

sudo snap install webots

Create a workspace (only the first time):

mkdir -p eurobot_ws/src
cd eurobot_ws
git clone https://github.com/lazicdanilo/bachelor-project.git src/eurobot
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro foxy

Install dependencies (For Ubuntu)

sudo apt install python3-rosdep2 install python3-colcon-ros ros-foxy-webots-ros2-driver ros-foxy-webots-ros2-control python3-opencv

Build

# only eurobot simulation
source /opt/ros/foxy/local_setup.bash
colcon build --packages-select eurobot_fsm
source install/local_setup.sh

# only eurobot fsm
source /opt/ros/foxy/local_setup.bash
colcon build --packages-select eurobot_fsm
source install/local_setup.sh

# both
source /opt/ros/foxy/local_setup.bash
colcon build
source install/local_setup.sh

Run

# eurobot simulation
source /opt/ros/foxy/local_setup.bash
source install/local_setup.sh
ros2 launch eurobot_simulation robot_launch.py

# eurobot fsm
source /opt/ros/foxy/local_setup.bash
source install/local_setup.sh
ros2 run eurobot_fsm eurobot_fsm

Play

ros2 run teleop_twist_keyboard teleop_twist_keyboard