GCamp ROS 2 Basic

ROS 2 Basics with Gazebo Simulations

Feel Free to use this repo as an template code 😀

News

There’s Youtube Lecture note for all codes, all packages (Written in Korean)

• Youtube Playlist Link

There’s Lecture note for all codes, all packages (Written in Korean)

• Lecture Note Notion Link

You can pull prepared Docker Image for this lecture. All you need to install is already prepared in this setup!

docker pull tge1375/gcamp-ros2-foxy:0.0.4
docker run -it -p 6080:80 --name gcamp_ros2_foxy --privileged tge1375/gcamp-ros2-foxy:0.0.4
# open your web brower and enter to http://127.0.0.1:6080

(Special thanks to Tiryoh )

Comming Soon… All process with *Windows OS*

Repo Structure

├── cpp_first_pkg
├── cpp_topic_pkg
├── cpp_service_pkg
├── cpp_action_pkg
├── py_first_pkg
├── py_topic_pkg
├── py_service_pkg
├── py_action_pkg
├── custom_interfaces
├── gcamp_gazebo
└── image

• gcamp_gazebo : Gazeobo Package with Worlds and Robot.
• cpp_<sth>_pkg : C++ ROS 2 packages for each ROS Communication Mechanisms
• py_<sth>_pkg : Python ROS 2 packages for each ROS Communication Mechanisms
• custom_interfaces : Package for custom ROS 2 communication interfaces

Examples - rclpy

Topic Examples

• Available nodes and Execution commands

ros2 run py_topic_pkg cmd_vel_pub_node 
ros2 run py_topic_pkg laser_raw_node 
ros2 run py_topic_pkg laser_sub_node
ros2 run py_topic_pkg parking_node

Project - Parking

Use ROS 2 topic to park the robot correctly in the simulation.

• LaserScan data Subscribe
• Twist publish

Service Examples

• Available nodes and Execution commands

ros2 run py_service_pkg gazebo_model_spawner
ros2 run py_service_pkg robot_turning_server
ros2 service call /turn_robot custom_interfaces/srv/TurningControl "{time_duration: 5, angular_vel_z: 1.0, linear_vel_x: 0.5}"
ros2 service call /delete_entity gazebo_msgs/srv/DeleteEntity "{name: 'skidbot'}"
ros2 run py_service_pkg robot_turning_client

Project - Spawn Cloned Robot

Use ROS 2 service to bring a robot into the simulation.

• ROS Gazebo Service
• Service Client
• URDF

File truncated at 100 lines [see the full file](https://github.com/road-balance/gcamp_ros2_basic/tree/main/README.md)