Humble Migration

ROS2 Humble

[12/29/24]

Dev machine/simulation

• Create workspace

mkdir -p dev_ws/src
dev_ws/src

• Add articubot_one package

git clone git@github.com:joshnewans/articubot_one.git

• Add ball_tracker package
  • This repository contains a simple demonstration of using ROS and OpenCV to track a ball with a mobile robot via a camera feed.

git clone git@github.com:joshnewans/ball_tracker.git

• Build packages from the workspace root and source

cd ..
colcon build --symlink-install
source install/setup.bash

• Open in VS Code (code .) and change instances of spawner.py to spawner

    diff_drive_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["diff_cont"],
    )
 
    joint_broad_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["joint_broad"],
    )

• Install twist_mux package

sudo apt install ros-humble-twist-mux

• Launch Gazebo simulation
  • Set up gazebo-classic-gazebo11

ros2 launch articubot_one launch_sim.launch.py world:=src/articubot_one/worlds/obstacles.world 

Ball tracking, SLAM, Nav2

[1/14/25]

• Run RViz with simtime (Otherwise, will cause problems with Nav2)

ros2 run rviz2 rviz2 -d src/articubot_one/config/main.rviz --ros-args -p use_sim_time:=true

• See connecting-usb-devices-to-wsl2