amber

Amber Dynamics' Autonomous Worker Robot

Launch

This repository provides two options for starting the simulation:

Launch in a workspace without ROS2 installed using the Launch Script (Ubuntu only)
Launch in a workspace with an existing ROS2 installation using ROS2 Launch

Launch Script

The launch script is suitable for a bare ubuntu installation (i.e. one without ros or gazebo). The script automatically installs ROS2 and Gazebo as well as the required build dependencies. Execute these shell commands to launch the simulation using the launch bash script:

Download the launch script

wget https://raw.githubusercontent.com/thealamu/amber/main/scripts/launch_sim_teleop.sh
chmod +x launch_sim_teleop.sh

Run the script

This command starts the simulation in an empty world:

./launch_sim_teleop.sh empty.world

To start the simulation in a world with moving obstacles:

./launch_sim_teleop.sh dynamic_obstacles.world

ROS2 Launch

If you have an existing ros2 installation, follow these steps to launch the simulation:

Clone the repository

mkdir -p amber_ws/src
git clone https://github.com/thealamu/amber amber_ws/src
cd amber_ws

Build the packages

colcon build
source /usr/share/gazebo/setup.sh
source ./install/setup.bash

Start the simulation

You can start in an empty world:

ros2 launch amber_sim launch.py world:=empty.world

or a world with moving obstacles:

ros2 launch amber_sim launch.py world:=dynamic_obstacles.world

Teleoperation

To get the robot moving, open another terminal and source the setup.bash script in the install folder:

source amber_ws/install/setup.bash

Then start a teleop key node using the following shell command:

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

The robot should respond to your teleop keys.

faithfulnessalamu / amber