Setup

clone this repo into an existing workspace: git clone https://github.com/joshnewans/my_bot.git

build with:

colcon build --symlink-install

test the launch file with:

ros2 launch my_bot rsp.launch.py

Note:
remember to run colcon build --symlink-install
when adding any new files

Continue onto guide:

https://articulatedrobotics.xyz/tutorials/ready-for-ros/urdf

Note for debugging:

If in rviz you see there is an error in your RobotModel where you don’t see the wheels.

This is because the wheels are joints that need an input.

We have to call joint_state_publisher or joint_state_publisher_gui to give the wheels a value.

broken:

image.png

After running joint_state_publisher or joint_state_publisher_gui

image.png

The return of Exercises!!

make joint state publisher + joint state gui + rviz in to a launch file