Project 1 Documentation

Contents:

• Install Ubuntu
  • Dual Boot
  • Docker
  • Virtual Box
  • Complete Boot
• Install ROS2
  • Installation Guide:
  • Tutorials:
• Solidworks
  • Project 1 Details
  • SW2URDF
• Workspace Setup
• Create a Package in ROS 2
  • Create Package
  • Build Package
• Add URDF to Package
  • Download URDF
  • Update URDF file
  • Launch files
  • CMakeLists
  • Package xml
  • Adding Color
  • Launch Model
• Controllers
  • Install dependencies
  • CMakeLists and Package XML
  • Control Description
  • Start the Controller
• RVIZ
• Plugin
  • LIDAR
  • IMU
  • Vacuum Gripper
  • Odometry
  • Drone Plugin
• Competition Setup
• teleop Script
• Custom Object
• Creating and Saving a world in Gazebo
• Frequently Faced Errors
  • 1. Xacro Package is Not Installed
  • 2. ROS Controller Manager Not Found
  • 3. Transform Not Available
  • 4. Subscribing to IMU Sensor data
• Support

This documentation will help you walkthrough the basics of getting a custom robot working in Gazebo, using ROS2. This will consist of the following steps.

• Creating a Robot Model in Solidworks

• Exporting Model to URDF

• Installing Ubuntu 20.04 (Focal Fossa)

• Installing ROS 2 Galactic

• Setting Up Environment

• Setting Up Workspace

• Creating a Package

• Adding URDF to Package and Launching in Gazebo

• Adding Controllers to Robot

• Writing a Script to Control the Robot

Software Requirements and Extensions

• Solidworks

  To create a model of your robot

• SW2URDF Exporter

  To export your model to URDF file format

• Ubuntu 20.04

  This is our base operating system for stable builds of our package

• ROS2 Galactic

  This is a stable version of ROS2 which works well for our project

• Gazebo

  This is a physics simulation engine we will be using to simulate our robot