Ros2_moving_car

This project simulates an object with three wheels using ROS2. The object can be visualized in both Gazebo and RViz. It includes functionalities to move the object to random positions and control it via keyboard input.

Demo

In Rviz

In Gazebo

The car moves in a random direction and speed for 15 seconds.

Setup

ros2, gazebo, rviz2 should be already installed.

1. Create a workspace directory:

   mkdir example_ws
   

2. Create a src directory in the workspace:

   mkdir example_ws/src
   

3. Clone this repository into the src directory:

   cd example_ws/src
   git clone https://github.com/mininiii/Ros2_moving_car.git
   

Launch

1. Build and source the workspace:

   cd example_ws
   colcon build
   source install/setup.bash
   

2. Launch the simulation:

   ros2 launch moving_car sim.launch.py
   

   This will launch RViz and Gazebo.

Keyboard control

After launching the simulation, you can move the object using your keyboard input in another terminal:

ros2 run teleop_twist_keyboard teleop_twist_keyboard