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.

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

How to contribute to atreus

Copyright & License

Any contribution that you make to this repository will be under the MIT license, as dictated by that license.

Did you find a bug?

• Ensure the bug was not already reported by searching on GitHub under Issues.
• If you’re unable to find an open issue addressing the problem, open a new one. Be sure to include a title and clear description, as much relevant information as possible, and a code sample or an executable test case demonstrating the expected behavior that is not occurring.

Did you write a patch that fixes a bug?

• Open a new GitHub pull request with the patch.

• Ensure the PR description clearly describes the problem and solution. Include the relevant issue number if applicable.

Did you fix whitespace, format code, or make a purely cosmetic patch?

• Changes that are cosmetic in nature and do not add anything substantial to the stability, functionality, or testability of rhinoceROS will not be declined.

Do you intend to add a new feature or change an existing one?

• Suggest your change and create a new issue, then start writing code.

• Do not open an issue on GitHub until you have collected positive feedback about the change. GitHub issues are primarily intended for bug reports and fixes.

Do you have questions about the source code?

• Ask any question about how to use atreus to my personal email - leanderdsouza1234@gmail.com

Do you want to contribute to the atreus documentation?

• You can contribute to the documentation by making it more coherent, consistent, or readable, adding missing information, correcting factual errors, fixing typos, or bringing them up to date with the latest version.