ros2_rover

This is a ROS 2 (Humble) version of the Sawppy the Rover. A C++ version and a Python version of the lx16a controller are included. Besides, a PS3 joy controller and a hokuyo laser can be used.

ROS 2 Distro	Branch	Build status	Docker Image	Documentation
Humble	humble
Iron	humble

Table of Contents

1. Installation
2. Usage
   • Linux Service
3. Docker
4. Gazebo Simulation
5. Citations

Installation

cd ~/ros2_ws/src
git clone https://github.com/mgonzs13/ros2_rover
cd ~/ros2_ws
rosdep install --from-paths src -r -y
colcon build

Docker

You can create a docker image to test this repo. Use the following common inside the directory of ros2_rover.

docker build -t rover .

After the image is created, run a docker container with the following command.

docker run -it --rm rover

Usage

ros2 launch rover_bringup rover.launch.py

Linux Service

A Linux service can be created to control the execution and launch everything at boot time. To create the rover service, the following commands are used:

cd ~/ros2_ws/src/ros2_rover/rover_service
sudo ./install.sh

Check rover service:

sudo service rover status

Gazebo Simulation

Moon

ros2 launch rover_gazebo moon.launch.py

Mars

ros2 launch rover_gazebo mars.launch.py

Forest

ros2 launch rover_gazebo forest.launch.py

Citations

The v0.7 version has been used in the work Comparison of Concentric Surface Planetary Explorations Using an Ackerman Rover in a Lunar Simulation from the 2024 International Conference on Space Robotics (iSpaRo).

@INPROCEEDINGS{10685849,
  author={González-Santamarta, Miguel Á. and Rodríguez-Lera, Francisco J.},
  booktitle={2024 International Conference on Space Robotics (iSpaRo)},
  title={Comparison of Concentric Surface Planetary Explorations Using an Ackerman Rover in a Lunar Simulation},
  year={2024},
  volume={},
  number={},
  pages={239-244},
  keywords={Spirals;Navigation;Moon;Cameras;Sensors;Visual odometry;Testing},
  doi={10.1109/iSpaRo60631.2024.10685849}
}