squarbo_gazebo

Spawns Squarbo into Gazebo world allowing you to control the robot through /cmd_vel and get the state with /odom or /model_states topics.

Instalation

cd squarbo_ws/src
git clone https://github.com/BorgesJVT/squarbo_gazebo/tree/main 
cd ..
colcon build

To spawn the robot into Gazebo just run

ros2 launch squarbo_gazebo spawn_squarbo.launch.py

To move the robot you can use

ros2 topic pub -r 10 cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'

or teleoperate by the keyboard with

ros2 run teleop_twist_keyboard teleop_twist_keyboard