ros2-mecanum-bot

ROS2 Mecanum wheel robot

Getting started

Prerequisites

This project is build and tested on Ubuntu 22.04 LTS with ROS 2 Humble LTS.
For ROS 2 Foxy on Ubuntu 20.04 LTS see: Branch: Foxy

• ROS install instructions
• Colcon install instructions

Setup workspace

mkdir -p ~/workspaces/ros2-mecanum-bot/src
cd ~/workspaces/ros2-mecanum-bot/src
git clone git clone [email protected]:deborggraever/ros2-mecanum-bot.git .

Install dependencies

cd ~/workspaces/ros2-mecanum-bot
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro humble -r -y

Build and run

cd ~/workspaces/ros2-mecanum-bot
colcon build
source install/setup.bash
ros2 launch mecanumbot_bringup mecanumbot_hardware.py

Visualize the robot

cd ~/workspaces/ros2-mecanum-bot
source install/setup.bash
ros2 launch mecanumbot_bringup rviz2.py