The goal of this checkpoint is to design a kinematics model based on the robot dimensions and transform the model into motion.
- ROS2 Humble
- ROSbot XL package
Note: after launching the simulation, confirm you can move the robot;otherwise, restart the simulation.
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.1, y: 0.0, z: 0.0}, angular:{x: 0.0, y: 0.0, z: 0.0}}"
Develop the holonomic motions of the robot. These motion includes
- move forward
- move backward
- move sideways to the left
- move sideways to the right
- turn clockwise
- turn counter-clockwise
To run these motions, use the below command.
ros2 launch kinematic_model kinematic_model.launch.py
The robot will execute each motion in order.
Given the multiple waypoints in [dphi, dx, dy] format, the robot will follow the predefined waypoints in the absolute frame.
Use the following command to run the simulation.
ros2 launch eight_trajectory eight_trajectory.launch.py