diffdrive_simulator

Prerequisites

• ROS2 Foxy
• Webots R2022a https://github.com/cyberbotics/webots
• webots_ros2 package 1.2.2 https://github.com/cyberbotics/webots_ros2

Build

source /opt/ros/$ROS_DISTRO/local_setup.bash

# Retrieve the sources
cd /path/to/ros2_ws
git clone --recurse-submodules https://github.com/cyberbotics/webots_ros2.git src/webots_ros2
git clone https://github.com/TaoYibo1866/diffdrive_explore.git src/diffdrive_explore
# Install dependencies
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO

# Building packages
colcon build

# Source this workspace (careful when also sourcing others)
source install/local_setup.bash

Run

ros2 launch diffdrive_webots slam.launch.py
ros2 launch ground_control ground_control.launch.py