bbr_rob

Basketball Robot

环境

操作系统：Ubuntu 22.04
ROS 2：Humble
Gazebo：classic

依赖

sudo apt install ros-humble-robot-state-publisher
sudo apt install ros-humble-joint-state-publisher
sudo apt install ros-humble-xacro
sudo apt install ros-humble-gazebo-ros-pkgs
sudo apt install ros-humble-ros2-control
sudo apt install ros-humble-ros2-controllers
sudo apt install ros-humble-gazebo-ros2-control

可能有多余的依赖，但不知道是哪些，全装上。

构建包

mkdir -p your_ws/src && cd your_ws/src
git clone https://github.com/fengzhengyong-github/bbr_rob.git
cd ..
colcon build --symlink-install
source install/setup.bash
ros2 launch bbr_description gazebo_sim.launch.py

可用ros2自带的键盘控制节点控制小车轮子，重新打开一个终端，输入以下命令

ros2 run teleop_twist_keyboard teleop_twist_keyboard