This repository contains a ROS 2 Jazzy package for a 4WD differential drive robot. The project contains simulation in Gazebo Harmonic.

Before cloning this repository, you need to follow installation guide for deb packages.

• OS: Ubuntu 24.04 (Noble Numbat);
• ROS2: Jazzy Jalisco;
• Simulator: Gazebo Harmonic;
• Bridge: ros_gz_bridge;

The simulation environment is built using Gazebo Harmonic. It provides a physics-accurate 3D world where the 4WD robot can interact with objects and generate sensor data.

To start the robot and the simulation environment, run:

cd ./ros2_ws
source install/setup.bash
ros2 launch robot_sim gazebo_model.py

On systems with NVIDIA GPUs, if the Gazebo window crashes on startup, Add this line to your ~/.bashrc file:
export __EGL_VENDOR_LIBRARY_FILENAMES=/usr/share/glvnd/egl_vendor.d/10_nvidia.json

Sometimes we need to update our code, in order to apply changes go to ros2_ws and run:

rm -rf build/ install/ log/
colcon build --symlink-install
source install/setup.bash

Once the simulation is running and you can drive the robot using a joystick node. Run the following command to install the necessary packages:

sudo apt update
sudo apt install ros-jazzy-joy ros-jazzy-joy-teleop ros-jazzy-teleop-tools

Run these, to control the robot:

ros2 run joy joy_node

ros2 run robot_sim joystick_handler