Atreus for ROS 2 - Jazzy

Atreus for ROS 2 - Jazzy

This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as a Depth Camera, LiDAR, GPS, and an IMU.

Installation

1. Dev Container (Recommended)

Install the Dev Containers extension for Visual Studio Code.
Open the repository in Visual Studio Code and select Reopen in Container from the Command Palette (Ctrl+Shift+P). This will build the development container with all the necessary dependencies.

2. Native Installation

Clone the repository for responsible for driving the robot using arrow keys:

   cd $ROS_WS/src/
   git clone git@github.com:leander-dsouza/key_teleop_ros.git
   

Install all the required ROS related dependencies:

   rosdep install --from-paths $ROS_WS/src --ignore-src -r -y
   

Build the packages:

   colcon build --symlink-install --packages-select atreus key_teleop_ros

Tutorial

1. RViz Joint Visualization

Launch the robot in RViz:

   ros2 launch atreus rviz.launch.py

https://github.com/user-attachments/assets/d9053cb4-9933-4115-bb04-ae64e0fe399b

2. Teleoperation in Gazebo

Launch the robot in Gazebo:

   ros2 launch atreus gazebo.launch.py

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

Use the arrow keys to control the robot’s movement.

driving_script_interface

https://github.com/user-attachments/assets/cd9df2df-2087-4dc8-8ce1-d5b526d30321

3. Mapping

Launch the robot in Gazebo with the SLAM Toolbox:

   ros2 launch atreus slam_toolbox.launch.py

This will start the mapping process using SLAM Toolbox.

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

This will allow you to map the environment by driving the robot around.

https://github.com/user-attachments/assets/b92657ef-2855-4d6b-8c25-e220f16a3816

In order to save the map, open a new terminal and run the following command:

```bash

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rviz2
	ros_gz
	xacro
	slam_toolbox
	nav2_lifecycle_manager
	nav2_amcl
	nav2_controller
	nav2_planner
	joint_state_publisher
	joint_state_publisher_gui
	key_teleop_ros
	ament_copyright
	ament_flake8
	ament_lint_cmake
	ament_mypy
	ament_pep257
	ament_xmllint

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `atreus` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

atreus package from atreus repo

atreus

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	A test simulation of all projects and models from time to time.
Checkout URI	https://github.com/leander-dsouza/atreus.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	opencv localization robotics gps ros imu lidar gazebo pcl obstacle-avoidance traffic-light teleoperation ball-detection global-planner artag
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The Atreus Package in ROS2

Additional Links

No additional links.

Maintainers

Leander-Stephen-D'Souza

Authors

No additional authors.

Atreus for ROS 2 - Jazzy

This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as a Depth Camera, LiDAR, GPS, and an IMU.

Installation

1. Dev Container (Recommended)

Install the Dev Containers extension for Visual Studio Code.
Open the repository in Visual Studio Code and select Reopen in Container from the Command Palette (Ctrl+Shift+P). This will build the development container with all the necessary dependencies.

2. Native Installation

Clone the repository for responsible for driving the robot using arrow keys:

   cd $ROS_WS/src/
   git clone git@github.com:leander-dsouza/key_teleop_ros.git
   

Install all the required ROS related dependencies:

   rosdep install --from-paths $ROS_WS/src --ignore-src -r -y
   

Build the packages:

   colcon build --symlink-install --packages-select atreus key_teleop_ros

Tutorial

1. RViz Joint Visualization

Launch the robot in RViz:

   ros2 launch atreus rviz.launch.py

https://github.com/user-attachments/assets/d9053cb4-9933-4115-bb04-ae64e0fe399b

2. Teleoperation in Gazebo

Launch the robot in Gazebo:

   ros2 launch atreus gazebo.launch.py

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

Use the arrow keys to control the robot’s movement.

driving_script_interface

https://github.com/user-attachments/assets/cd9df2df-2087-4dc8-8ce1-d5b526d30321

3. Mapping

Launch the robot in Gazebo with the SLAM Toolbox:

   ros2 launch atreus slam_toolbox.launch.py

This will start the mapping process using SLAM Toolbox.

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

This will allow you to map the environment by driving the robot around.

https://github.com/user-attachments/assets/b92657ef-2855-4d6b-8c25-e220f16a3816

In order to save the map, open a new terminal and run the following command:

```bash

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rviz2
	ros_gz
	xacro
	slam_toolbox
	nav2_lifecycle_manager
	nav2_amcl
	nav2_controller
	nav2_planner
	joint_state_publisher
	joint_state_publisher_gui
	key_teleop_ros
	ament_copyright
	ament_flake8
	ament_lint_cmake
	ament_mypy
	ament_pep257
	ament_xmllint

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `atreus` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

atreus package from atreus repo

atreus

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	A test simulation of all projects and models from time to time.
Checkout URI	https://github.com/leander-dsouza/atreus.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	opencv localization robotics gps ros imu lidar gazebo pcl obstacle-avoidance traffic-light teleoperation ball-detection global-planner artag
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The Atreus Package in ROS2

Additional Links

No additional links.

Maintainers

Leander-Stephen-D'Souza

Authors

No additional authors.

Atreus for ROS 2 - Jazzy

This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as a Depth Camera, LiDAR, GPS, and an IMU.

Installation

1. Dev Container (Recommended)

Install the Dev Containers extension for Visual Studio Code.
Open the repository in Visual Studio Code and select Reopen in Container from the Command Palette (Ctrl+Shift+P). This will build the development container with all the necessary dependencies.

2. Native Installation

Clone the repository for responsible for driving the robot using arrow keys:

   cd $ROS_WS/src/
   git clone git@github.com:leander-dsouza/key_teleop_ros.git
   

Install all the required ROS related dependencies:

   rosdep install --from-paths $ROS_WS/src --ignore-src -r -y
   

Build the packages:

   colcon build --symlink-install --packages-select atreus key_teleop_ros

Tutorial

1. RViz Joint Visualization

Launch the robot in RViz:

   ros2 launch atreus rviz.launch.py

https://github.com/user-attachments/assets/d9053cb4-9933-4115-bb04-ae64e0fe399b

2. Teleoperation in Gazebo

Launch the robot in Gazebo:

   ros2 launch atreus gazebo.launch.py

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

Use the arrow keys to control the robot’s movement.

driving_script_interface

https://github.com/user-attachments/assets/cd9df2df-2087-4dc8-8ce1-d5b526d30321

3. Mapping

Launch the robot in Gazebo with the SLAM Toolbox:

   ros2 launch atreus slam_toolbox.launch.py

This will start the mapping process using SLAM Toolbox.

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

This will allow you to map the environment by driving the robot around.

https://github.com/user-attachments/assets/b92657ef-2855-4d6b-8c25-e220f16a3816

In order to save the map, open a new terminal and run the following command:

```bash

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rviz2
	ros_gz
	xacro
	slam_toolbox
	nav2_lifecycle_manager
	nav2_amcl
	nav2_controller
	nav2_planner
	joint_state_publisher
	joint_state_publisher_gui
	key_teleop_ros
	ament_copyright
	ament_flake8
	ament_lint_cmake
	ament_mypy
	ament_pep257
	ament_xmllint

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `atreus` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

atreus package from atreus repo

atreus

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	A test simulation of all projects and models from time to time.
Checkout URI	https://github.com/leander-dsouza/atreus.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	opencv localization robotics gps ros imu lidar gazebo pcl obstacle-avoidance traffic-light teleoperation ball-detection global-planner artag
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The Atreus Package in ROS2

Additional Links

No additional links.

Maintainers

Leander-Stephen-D'Souza

Authors

No additional authors.

Atreus for ROS 2 - Jazzy

This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as a Depth Camera, LiDAR, GPS, and an IMU.

Installation

1. Dev Container (Recommended)

Install the Dev Containers extension for Visual Studio Code.
Open the repository in Visual Studio Code and select Reopen in Container from the Command Palette (Ctrl+Shift+P). This will build the development container with all the necessary dependencies.

2. Native Installation

Clone the repository for responsible for driving the robot using arrow keys:

   cd $ROS_WS/src/
   git clone git@github.com:leander-dsouza/key_teleop_ros.git
   

Install all the required ROS related dependencies:

   rosdep install --from-paths $ROS_WS/src --ignore-src -r -y
   

Build the packages:

   colcon build --symlink-install --packages-select atreus key_teleop_ros

Tutorial

1. RViz Joint Visualization

Launch the robot in RViz:

   ros2 launch atreus rviz.launch.py

https://github.com/user-attachments/assets/d9053cb4-9933-4115-bb04-ae64e0fe399b

2. Teleoperation in Gazebo

Launch the robot in Gazebo:

   ros2 launch atreus gazebo.launch.py

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

Use the arrow keys to control the robot’s movement.

driving_script_interface

https://github.com/user-attachments/assets/cd9df2df-2087-4dc8-8ce1-d5b526d30321

3. Mapping

Launch the robot in Gazebo with the SLAM Toolbox:

   ros2 launch atreus slam_toolbox.launch.py

This will start the mapping process using SLAM Toolbox.

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

This will allow you to map the environment by driving the robot around.

https://github.com/user-attachments/assets/b92657ef-2855-4d6b-8c25-e220f16a3816

In order to save the map, open a new terminal and run the following command:

```bash

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rviz2
	ros_gz
	xacro
	slam_toolbox
	nav2_lifecycle_manager
	nav2_amcl
	nav2_controller
	nav2_planner
	joint_state_publisher
	joint_state_publisher_gui
	key_teleop_ros
	ament_copyright
	ament_flake8
	ament_lint_cmake
	ament_mypy
	ament_pep257
	ament_xmllint

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `atreus` at Robotics Stack Exchange

atreus package from atreus repo

atreus

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	A test simulation of all projects and models from time to time.
Checkout URI	https://github.com/leander-dsouza/atreus.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	opencv localization robotics gps ros imu lidar gazebo pcl obstacle-avoidance traffic-light teleoperation ball-detection global-planner artag
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The Atreus Package in ROS2

Additional Links

No additional links.

Maintainers

Leander-Stephen-D'Souza

Authors

No additional authors.

Atreus for ROS 2 - Jazzy

This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as a Depth Camera, LiDAR, GPS, and an IMU.

Installation

1. Dev Container (Recommended)

Install the Dev Containers extension for Visual Studio Code.
Open the repository in Visual Studio Code and select Reopen in Container from the Command Palette (Ctrl+Shift+P). This will build the development container with all the necessary dependencies.

2. Native Installation

Clone the repository for responsible for driving the robot using arrow keys:

   cd $ROS_WS/src/
   git clone git@github.com:leander-dsouza/key_teleop_ros.git
   

Install all the required ROS related dependencies:

   rosdep install --from-paths $ROS_WS/src --ignore-src -r -y
   

Build the packages:

   colcon build --symlink-install --packages-select atreus key_teleop_ros

Tutorial

1. RViz Joint Visualization

Launch the robot in RViz:

   ros2 launch atreus rviz.launch.py

https://github.com/user-attachments/assets/d9053cb4-9933-4115-bb04-ae64e0fe399b

2. Teleoperation in Gazebo

Launch the robot in Gazebo:

   ros2 launch atreus gazebo.launch.py

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

Use the arrow keys to control the robot’s movement.

driving_script_interface

https://github.com/user-attachments/assets/cd9df2df-2087-4dc8-8ce1-d5b526d30321

3. Mapping

Launch the robot in Gazebo with the SLAM Toolbox:

   ros2 launch atreus slam_toolbox.launch.py

This will start the mapping process using SLAM Toolbox.

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

This will allow you to map the environment by driving the robot around.

https://github.com/user-attachments/assets/b92657ef-2855-4d6b-8c25-e220f16a3816

In order to save the map, open a new terminal and run the following command:

```bash

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rviz2
	ros_gz
	xacro
	slam_toolbox
	nav2_lifecycle_manager
	nav2_amcl
	nav2_controller
	nav2_planner
	joint_state_publisher
	joint_state_publisher_gui
	key_teleop_ros
	ament_copyright
	ament_flake8
	ament_lint_cmake
	ament_mypy
	ament_pep257
	ament_xmllint

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `atreus` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

atreus package from atreus repo

atreus

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	A test simulation of all projects and models from time to time.
Checkout URI	https://github.com/leander-dsouza/atreus.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	opencv localization robotics gps ros imu lidar gazebo pcl obstacle-avoidance traffic-light teleoperation ball-detection global-planner artag
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The Atreus Package in ROS2

Additional Links

No additional links.

Maintainers

Leander-Stephen-D'Souza

Authors

No additional authors.

Atreus for ROS 2 - Jazzy

This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as a Depth Camera, LiDAR, GPS, and an IMU.

Installation

1. Dev Container (Recommended)

Install the Dev Containers extension for Visual Studio Code.
Open the repository in Visual Studio Code and select Reopen in Container from the Command Palette (Ctrl+Shift+P). This will build the development container with all the necessary dependencies.

2. Native Installation

Clone the repository for responsible for driving the robot using arrow keys:

   cd $ROS_WS/src/
   git clone git@github.com:leander-dsouza/key_teleop_ros.git
   

Install all the required ROS related dependencies:

   rosdep install --from-paths $ROS_WS/src --ignore-src -r -y
   

Build the packages:

   colcon build --symlink-install --packages-select atreus key_teleop_ros

Tutorial

1. RViz Joint Visualization

Launch the robot in RViz:

   ros2 launch atreus rviz.launch.py

https://github.com/user-attachments/assets/d9053cb4-9933-4115-bb04-ae64e0fe399b

2. Teleoperation in Gazebo

Launch the robot in Gazebo:

   ros2 launch atreus gazebo.launch.py

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

Use the arrow keys to control the robot’s movement.

driving_script_interface

https://github.com/user-attachments/assets/cd9df2df-2087-4dc8-8ce1-d5b526d30321

3. Mapping

Launch the robot in Gazebo with the SLAM Toolbox:

   ros2 launch atreus slam_toolbox.launch.py

This will start the mapping process using SLAM Toolbox.

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

This will allow you to map the environment by driving the robot around.

https://github.com/user-attachments/assets/b92657ef-2855-4d6b-8c25-e220f16a3816

In order to save the map, open a new terminal and run the following command:

```bash

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rviz2
	ros_gz
	xacro
	slam_toolbox
	nav2_lifecycle_manager
	nav2_amcl
	nav2_controller
	nav2_planner
	joint_state_publisher
	joint_state_publisher_gui
	key_teleop_ros
	ament_copyright
	ament_flake8
	ament_lint_cmake
	ament_mypy
	ament_pep257
	ament_xmllint

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `atreus` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

atreus package from atreus repo

atreus

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	A test simulation of all projects and models from time to time.
Checkout URI	https://github.com/leander-dsouza/atreus.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	opencv localization robotics gps ros imu lidar gazebo pcl obstacle-avoidance traffic-light teleoperation ball-detection global-planner artag
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The Atreus Package in ROS2

Additional Links

No additional links.

Maintainers

Leander-Stephen-D'Souza

Authors

No additional authors.

Atreus for ROS 2 - Jazzy

This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as a Depth Camera, LiDAR, GPS, and an IMU.

Installation

1. Dev Container (Recommended)

Install the Dev Containers extension for Visual Studio Code.
Open the repository in Visual Studio Code and select Reopen in Container from the Command Palette (Ctrl+Shift+P). This will build the development container with all the necessary dependencies.

2. Native Installation

Clone the repository for responsible for driving the robot using arrow keys:

   cd $ROS_WS/src/
   git clone git@github.com:leander-dsouza/key_teleop_ros.git
   

Install all the required ROS related dependencies:

   rosdep install --from-paths $ROS_WS/src --ignore-src -r -y
   

Build the packages:

   colcon build --symlink-install --packages-select atreus key_teleop_ros

Tutorial

1. RViz Joint Visualization

Launch the robot in RViz:

   ros2 launch atreus rviz.launch.py

https://github.com/user-attachments/assets/d9053cb4-9933-4115-bb04-ae64e0fe399b

2. Teleoperation in Gazebo

Launch the robot in Gazebo:

   ros2 launch atreus gazebo.launch.py

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

Use the arrow keys to control the robot’s movement.

driving_script_interface

https://github.com/user-attachments/assets/cd9df2df-2087-4dc8-8ce1-d5b526d30321

3. Mapping

Launch the robot in Gazebo with the SLAM Toolbox:

   ros2 launch atreus slam_toolbox.launch.py

This will start the mapping process using SLAM Toolbox.

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

This will allow you to map the environment by driving the robot around.

https://github.com/user-attachments/assets/b92657ef-2855-4d6b-8c25-e220f16a3816

In order to save the map, open a new terminal and run the following command:

```bash

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rviz2
	ros_gz
	xacro
	slam_toolbox
	nav2_lifecycle_manager
	nav2_amcl
	nav2_controller
	nav2_planner
	joint_state_publisher
	joint_state_publisher_gui
	key_teleop_ros
	ament_copyright
	ament_flake8
	ament_lint_cmake
	ament_mypy
	ament_pep257
	ament_xmllint

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `atreus` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

atreus package from atreus repo

atreus

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	A test simulation of all projects and models from time to time.
Checkout URI	https://github.com/leander-dsouza/atreus.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	opencv localization robotics gps ros imu lidar gazebo pcl obstacle-avoidance traffic-light teleoperation ball-detection global-planner artag
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The Atreus Package in ROS2

Additional Links

No additional links.

Maintainers

Leander-Stephen-D'Souza

Authors

No additional authors.

Atreus for ROS 2 - Jazzy

This package contains a mutlipurpose four-wheeled skid-steer drive robot equipped with sensors such as a Depth Camera, LiDAR, GPS, and an IMU.

Installation

1. Dev Container (Recommended)

Install the Dev Containers extension for Visual Studio Code.
Open the repository in Visual Studio Code and select Reopen in Container from the Command Palette (Ctrl+Shift+P). This will build the development container with all the necessary dependencies.

2. Native Installation

Clone the repository for responsible for driving the robot using arrow keys:

   cd $ROS_WS/src/
   git clone git@github.com:leander-dsouza/key_teleop_ros.git
   

Install all the required ROS related dependencies:

   rosdep install --from-paths $ROS_WS/src --ignore-src -r -y
   

Build the packages:

   colcon build --symlink-install --packages-select atreus key_teleop_ros

Tutorial

1. RViz Joint Visualization

Launch the robot in RViz:

   ros2 launch atreus rviz.launch.py

https://github.com/user-attachments/assets/d9053cb4-9933-4115-bb04-ae64e0fe399b

2. Teleoperation in Gazebo

Launch the robot in Gazebo:

   ros2 launch atreus gazebo.launch.py

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

Use the arrow keys to control the robot’s movement.

driving_script_interface

https://github.com/user-attachments/assets/cd9df2df-2087-4dc8-8ce1-d5b526d30321

3. Mapping

Launch the robot in Gazebo with the SLAM Toolbox:

   ros2 launch atreus slam_toolbox.launch.py

This will start the mapping process using SLAM Toolbox.

Open a new terminal and run the teleoperation node:

   ros2 run key_teleop_ros key_drive

This will allow you to map the environment by driving the robot around.

https://github.com/user-attachments/assets/b92657ef-2855-4d6b-8c25-e220f16a3816

In order to save the map, open a new terminal and run the following command:

```bash

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rviz2
	ros_gz
	xacro
	slam_toolbox
	nav2_lifecycle_manager
	nav2_amcl
	nav2_controller
	nav2_planner
	joint_state_publisher
	joint_state_publisher_gui
	key_teleop_ros
	ament_copyright
	ament_flake8
	ament_lint_cmake
	ament_mypy
	ament_pep257
	ament_xmllint

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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atreus package from atreus repo

atreus

ROS Distro
github

API Docs
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Wiki

Package Summary

Tags	No category tags.
Version	0.0.0
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	A test simulation of all projects and models from time to time.
Checkout URI	https://github.com/leander-dsouza/atreus.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	opencv localization robotics gps ros imu lidar gazebo pcl obstacle-avoidance traffic-light teleoperation ball-detection global-planner artag
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The Atreus Package in ROS2

Additional Links

No additional links.

Maintainers

Leander-Stephen-D'Souza

Authors

No additional authors.