huksy_sim.md

Set clearpath and UAV simulation in RO2 Humble

1. Clearpath in ROS2 humble

    ros2 launch clearpath_gz simulation.launch.py

NOTE: we must click "start" within 3-4 seconds/

Commands to test

    ros2 topic pub /a200_0000/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

We can use teleop_twist_keyboard to control the robot with keyboard. Only thing to be carefly is to map topics to the one set by clearpath.

  ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=a200_0000/cmd_vel

1.2 choose different robots

We can use different clearpath robots by modifying robot.yaml file in ~/clearpath. An example is given as bellow:

  ros2:
    namespace: a200_0000
    domain_id: 0
    middleware:
      implementation: rmw_fastrtps_cpp
    workspaces: 
    - /home/mscroboticslaptop19/clearpath_ws/install/setup.bash 

Then, we need to regenerate robot simulation files.

    ros2 run clearpath_generator_common generate_bash -s ~/clearpath
    source ~/clearpath/setup.bash

2. SLAM with clearpath

2.1 Install slam-toolbox

    sudo apt install ros-humble-slam-toolbox

2.2 SLAM with clearpath

1. run simulation

  ros2 launch clearpath_gz simulation.launch.py

2. view in rviz

  ros2 launch clearpath_viz view_navigation.launch.py namespace:=a200_0000

3. run SLAM_toobox

   ros2 launch clearpath_nav2_demos slam.launch.py setup_path:=$HOME/clearpath/ use_sim_time:=true

4. use keyboard control to move robot everwhere to build a map

  ```shell
  ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=a200_0000/cmd_vel

rqt_grap about slam is

3. Localisation with clearpath

4. path planning with clearpath