Nomeer Robot

Overview

The Nomeer Robot is a custom robot designed using ROS 2. This project includes two main packages:

1. robot_description - Handles the robot’s physical description and Gazebo integration.
2. teleop_twist_keyboard - Enables manual control of the robot using keyboard inputs.

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Packages Details

1. robot_description

This package contains all necessary files to describe the Nomeer Robot and manage its simulation in Gazebo.

Directory Structure:

• config/: Contains configuration files for managing Gazebo bridge parameters.
• launch/: Includes launch files for starting the Gazebo world and robot description.
  • Example command to launch:

    ros2 launch robot_description robot.launch.py

• models/: Contains the Nomeer Robot’s SDF file.
• worlds/: Includes the tugbot_warehouse.sdf file for the simulation environment.
• rviz/ : Includes the rviz2 configration file.
• CMakeLists.txt and package.xml: Required files for building and defining package dependencies.

2. teleop_twist_keyboard

This package allows users to control the Nomeer Robot via keyboard input. It provides:

• A Python-based script to capture keyboard inputs and send velocity commands to the robot via /cmd_vel.

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Getting Started

Prerequisites

Ensure you have the following installed:

• ROS 2 (Humble)
• Gazebo Harmonic

Installation

1. Clone the repository to your workspace:

   git clone https://github.com/nomeera/nomeer_robot_ros2.git

2. Build the workspace:

   cd <workspace>
   colcon build

3. Source the workspace:

   source install/setup.bash

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Usage

Launching the Robot in Gazebo

Run the following command to launch the robot in the warehouse simulation:

ros2 launch robot_description robot.launch.py

Controlling the Robot

1. Open a new terminal and source the workspace.
2. Run the teleoperation script:

   ros2 run teleop_twist_keyboard teleop_twist_keyboard

Use the on-screen instructions to control the robot with your keyboard.

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Robot Images

Robot Frames

Rviz

Gazebo

Future Plans

• Expand simulation environments.
• Implement autonomous navigation.
• Add more robot features such as sensors and manipulators.

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License

This project is licensed under the Apache License.

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