Swerve_robot

This is my take on creating a controller for 4 wheeled swerve robot

Swerve Drive Robot ROS2 Package

This repository contains a ROS2 package for the control of a 4-wheeled swerve drive robot. The package includes:

• A Gazebo simulation environment.
• Joystick control integration.
• A custom controller node for operating the robot.

Package Overview

The ROS2 package provides launch files and nodes to simulate and control a swerve drive robot. Below is a step-by-step guide to get started.

Installation

1. Ensure you have ROS2 installed on your system. Refer to the ROS2 installation guide for your platform.
2. Clone this repository into your ROS2 workspace:

    cd ~/ros2_ws/src
    git clone https://github.com/<your-username>/Swerve_robot.git
    

1. Build the package:

    cd ~/ros2_ws
    colcon build
    

1. Source the workspace:

    source ~/ros2_ws/install/setup.bash
    

Usage

1. Launch the Gazebo Simulation

To start the Gazebo simulation environment for the robot, run:

ros2 launch amr_description gazebo.launch.py

2. Start the Joystick Controller

If you want to control the robot using a joystick, run:

ros2 launch amr_description joystick.launch.py

Ensure your joystick is connected and recognized by the system.

3. Run the Controller Node

To operate the custom controller node for the swerve drive robot, execute:

ros2 run amr_description controller

File Structure

├── amr_description
│   ├── launch
│   │   ├── gazebo.launch.py
│   │   ├── joystick.launch.py
│   ├── amr_description
│   │   ├── controller.py
│   ├── urdf
│   │   ├── robot.urdf.xacro
│   ├── config
│   │   ├── joystick.yaml
│   └── ...

Features

• Gazebo Simulation: A realistic environment to test and visualize robot movements.
• Joystick Control: Seamless integration with joystick devices for manual control.
• Custom Controller: An optimized node for operating a swerve drive mechanism.

Contributing

Contributions are welcome! If you encounter any issues or have suggestions for improvement, feel free to open an issue or submit a pull request.

Happy swerving!