It is assumed that the workspace is ~/ros2_ws/.

cd ~/ros2_ws/src

git clone https://github.com/robotverseny/megoldas_sim24

sudo apt install ros-humble-rviz-2d-overlay*

cd ~/ros2_ws

colcon build --packages-select megoldas_sim24 --symlink-install

source ~/ros2_ws/install/setup.bash

ros2 launch megoldas_sim24 megoldas1.launch.py # start simple_pursuit

ros2 run megoldas_sim24 simple_pursuit.py

ros2 launch megoldas_sim24 megoldas2.launch.py # start follow_the_gap

ros2 run megoldas_sim24 follow_the_gap.py

Build and run instructions of the simulator is described in the robotverseny_gazebo24 package.

After the simulaton packages are built and sourced, you can start the simulator, e.g. with the following command:

ros2 launch robotverseny_bringup roboworks.launch.py rviz:=true

This section explains how to use the joystick teleop to control your car using a joystick.

Ensure that the joy package is installed:

sudo apt-get install ros-humble-joy

To start the joystick teleop node, use the following command:

ros2 launch megoldas_sim24 car_teleop_launch.py

This will launch the joystick_teleop_node and joy_node nodes, allowing you to control your car using a joystick.

• Left Stick Vertical Axis: Controls the linear speed of the car.
• Left Stick Horizontal Axis: Controls the angular speed of the car.

Adjust the parameters in the joystick_teleop.py file as needed based on your joystick configuration and desired control behavior.

Tip: Check out joy_tester for configuring your joystick.

The frame /odom_combined is practically the same as /map, there is a static 0,0,0 transform between them. The only dynamic transform is between /odom_combined and /base_link.

graph TD
    %% Root frame
    map([ map]):::lightd
    odom_combined([ odom_combined]):::light
    base_link([ base_link]):::light
    chassis([ chassis]):::light
    camera_link([ camera_link]):::light
    imu_link([ imu_link]):::light
    laser([ laser]):::light

    %% connections
    odom_combined -.->|dynamic| base_link
    base_link -->|static| chassis
    base_link -->|static| camera_link
    base_link -->|static| imu_link
    base_link -->|static| laser
    map ==>|static - same| odom_combined

classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742  
classDef lightd fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742,stroke-dasharray: 5 5
classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5
classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742
classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff

This project is licensed under the GNU General Public License v3.0 - see the LICENSE file for details.