add caster models

[yasuohayashibara]

https://github.com/open-rdc/AIFormula_private/tree/deploy から派生させた．

以下で追加した従動輪のモデルをこちらのレポジトリに反映
https://github.com/open-rdc/aiformula_old

[yasuohayashibara]

Simulation

Under developping

Original simulation environment

ros2 launch simulator gazebo_simulator.launch.py

Simulation environment considering caster trail

ros2 launch simulator gazebo_simulator_caster_trail.launch.py

Simulation environment considering active caster

ros2 launch simulator gazebo_simulator_active_caster.launch.py
ros2 topic pub /position_controller/commands std_msgs/Float64MultiArray "data: [1.0]"

Control by Joystick

ros2 launch teleop_twist_joy teleop-launch.py joy_config:=xbox

[yasuohayashibara]

環境構築から実行までの手順
rosdepを使用してできるだけ簡単に環境を準備できるようにした．

■Environment
Foxy (Ubuntu20.04)検証
wsl2で検証

■INSTALL

ROS foxy インストール参考
https://qiita.com/porizou1/items/53053ce806304fd71f06

sudo apt install python3-rosdep

cd ~/ros2_ws/src
git clone https://github.com/open-rdc/aiformula

cd ~/ros2_ws/src/aiformula
git checkout caster_controller

cd ~/ros2_ws/src
sudo rosdep init
rosdep update --include-eol-distros
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

cd ~/ros2_ws
colcon build --symlink-install
echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

■EXECUTE

1)SIMULATOR
ros2 launch simulator gazebo_simulator.launch.py
ros2 launch simulator gazebo_simulator_caster_trail.launch.py
ros2 launch simulator gazebo_simulator_active_caster.launch.py

2)keyboard
ros2 run teleop_twist_keyboard teleop_twist_keyboard