Feel Free to use this repo as an template code 😀
There's Youtube Lecture note for all codes, all packages (Written in Korean)
There's Lecture note for all codes, all packages (Written in Korean)
Comming Soon... All process with Windows OS
Repo Structure
├── cpp_first_pkg
├── cpp_topic_pkg
├── cpp_service_pkg
├── cpp_action_pkg
├── py_first_pkg
├── py_topic_pkg
├── py_service_pkg
├── py_action_pkg
├── custom_interfaces
├── gcamp_gazebo
└── image
gcamp_gazebo: Gazeobo Package with Worlds and Robot.cpp_<sth>_pkg: C++ ROS 2 packages for each ROS Communication Mechanismspy_<sth>_pkg: Python ROS 2 packages for each ROS Communication Mechanismscustom_interfaces: Package for custom ROS 2 communication interfaces
- Available nodes and Execution commands
ros2 run py_topic_pkg cmd_vel_pub_node
ros2 run py_topic_pkg laser_raw_node
ros2 run py_topic_pkg laser_sub_node
ros2 run py_topic_pkg parking_node
Use ROS 2 topic to park the robot correctly in the simulation.
- LaserScan data Subscribe
- Twist publish
- Available nodes and Execution commands
ros2 run py_service_pkg gazebo_model_spawner
ros2 run py_service_pkg robot_turning_server
ros2 service call /turn_robot custom_interfaces/srv/TurningControl "{time_duration: 5, angular_vel_z: 1.0, linear_vel_x: 0.5}"
ros2 service call /delete_entity gazebo_msgs/srv/DeleteEntity "{name: 'skidbot'}"
ros2 run py_service_pkg robot_turning_client
Use ROS 2 service to bring a robot into the simulation.
- ROS Gazebo Service
- Service Client
- URDF
- Available nodes and Execution commands
ros2 run py_action_pkg fibonacci_action_server
ros2 run py_action_pkg fibonacci_action_client
ros2 run py_action_pkg fibonacci_action_server_cancel
ros2 run py_action_pkg fibonacci_action_client_cancel
ros2 action send_goal fibonacci custom_interfaces/action/Fibonacci "{order: 5}"
ros2 action send_goal --feedback fibonacci custom_interfaces/action/Fibonacci "{order: 5}"
ros2 run image_view image_view --ros-args --remap /image:=/diffbot/camera_sensor/image_raw
ros2 run py_action_pkg img_subscriber_node
ros2 run py_action_pkg odom_sub_node
ros2 run py_action_pkg robot_controller
ros2 run py_action_pkg maze_action_server
ros2 run py_action_pkg maze_action_client
ros2 action send_goal --feedback maze_action custom_interfaces/action/Maze "{turning_sequence: [2,1,0,1,2]}"
Use ROS 2 action to get the robot out of the maze.
- Action Client & Server
- ROS 2 odometry
- OpenCV
- Make skid_drive robot and differential_drive robot with URDF, and make them moving in Gazebo Environment.
- Check difference btw them
- Tutorial for Windows Users
- Package Development : kimsooyoung
- Error Review & Contribution : YoonSeok Pyo
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