Source the setup files in your workspace:
. install/setup.bash
source /opt/ros/humble/setup.bash
source install/setup.bash
Always build in the top level of your workshop (ros2_ws):
colcon build –symlink-install
Check missing dependencies:
rosdep install -i --from-path src --rosdistro humble -y
Path:
‘Workspace’/install/’package’/share/’package’/config
Launch the moveo_urdf:
1st terminal: ros2 launch moveo_urdf rsp.launch.py
2nd terminal: ros2 run joint_state_publisher_gui joint_state_publisher_gui
3rd terminal: rviz2
Launch the robot_5a_urdf:
1st terminal: ros2 launch robot_5a_urdf rsp.launch.py
2nd terminal: rviz2 -d src/robot_5a_urdf/view_robot.rviz
3rd terminal: ros2 run joint_state_publisher_gui joint_state_publisher_gui
4th terminal: ros2 launch gazebo_ros gazebo.launch.py
5th terminal: ros2 run gazebo_ros spawn_entity.py -topic robot_description -entity robot_5a_urdf
Launch empty world:
ros2 launch gazebo_ros gazebo.launch.py
Launch seesaw world:
gazebo /usr/share/gazebo-11/worlds/seesaw.world
Send to Github
git add --all *
git commit -a -m “”
git push
Sent to the computer:
git pull
Ressources being used by the computer:
htop
ros2 launch urdf_example rsp.launch.py
rviz2 -d src/urdf_example/view_robot.rviz
ros2 run joint_state_publisher_gui joint_state_publisher_gui
ros2 launch gazebo_ros gazebo.launch.py
ros2 run gazebo_ros spawn_entity.py -topic robot_description -entity my_bot
ros2 launch urdf_example rsp_sim.launch.py
ros2 topic pub -l /set_joint_trajectory trajectory_msgs/msg/JointTrajectory ‘{header: {frame_id: world}, joint_names: [slider_joint, arm_joint], points: [ {positions: {0.8,0.6}} ]}’
1st terminal: ros2 launch urdf_example rsp_sim.launch.py world:=~/test_world.world
2nd terminal: rviz2 -d src/urdf_example/view_robot.rviz
Show the topics:
ros2 topic list
Find the type of the topics:
ros2 topic type {name of the topic}
Show the content of a message:
ros2 interface show {type of the topic}
Show what the message content:
ros2 topic echo {name of the topic}