Bot_Description

Created by Dev Zinzuvadia for Robot Software Engineer Intern - Coding Round

Launching the Robot in RViz

1. Navigate to the workspace:

cd /path/to/your/workspace

2. Build your workspace:

colcon build
source install/setup.bash

3. Launching the robot in RViz:

ros2 launch bot_description rviz.launch.py

After launching the robot in rviz the robot should look like this

Visualizing the Robot in Gazebo

For visualizing the robot with Gazebo in a demo world, use the following command:

ros2 launch bot_world my_robot_gazebo.launch.xml

The Robot should look like this after launching the world in gazebo

Navigating the Robot

1. Ensure that the /cmd_vel topic is active:

ros2 topic list

2. After confirming the presence of /cmd_vel, use the following command to navigate the robot in the environment:

    ros2 run teleop_twist_keyboard teleop_twist_keyboard

Using the Filter Scan

Launch the Gazebo world using the steps mentioned above. Navigate to the bot_control directory:

cd src/bot_control/bot_control

Run the reading_laser.py script to visualize the filtered readings in RViz:

    python3 reading_laser.py

Important RViz Displays

When using RViz, make sure to add the following important displays:

Camera Filtered Scan (will appear as /scan but with the topic name of /filtered_scan)