This repo contains the necessary ROS files required for building a Differential Drive Bot.
-
To Run the Gazebo Sim:
ros2 launch mangalyaan sim.launch.py -
To Run the Real Robot:
ros2 launch mangalyaan bot.launch.py -
To Run/Check URDF Files:
ros2 launch mangalyaan urdf.launch.py -
For Rviz:
rviz2 -d "~path/to/the/file.rviz" -
For Teleop:
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped