本项目是基于ros2 humble和Gazebo Fortress的agv仿真。
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt-get update
sudo apt install ros-$ROS_DISTRO-ros-gz
sudo apt install ros-$ROS_DISTRO-ign-ros2-control# Install dependencies
IGNITION_VERSION=fortress rosdep install -y -r -i --rosdistro ${ROS_DISTRO} --from-paths .
# Build
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"source install/local_setup.bash- AGV+机械臂仿真启动
# 通过参数arm_enabled来添加或者不添加机械臂
ros2 launch agv_with_arm gazebo.launch.py arm_enabled:=true可以通过下面的命令启动键盘控制来控制AGV
ros2 run teleop_twist_keyboard teleop_twist_keyboard- 单独机械臂仿真启动
ros2 launch agv_with_arm arm_gazebo.py- 机械臂moveit2规划和控制
ros2 launch agv_with_arm moveit2_group.launch.py