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Diff Drive Robot Localization

A simple project demonstrating the robot localization package and EKF (Extended Kalman Filter) node.

Launching the Project

Dev Containers Setup

This project is based on a development container. To run it, you will need to install Docker and Visual Studio Code with the Dev Containers plugin. You can find more information about the dev containers here. Once the environment is ready, open the project folder in Visual Studio Code, press Shift + Ctrl + P, and type Dev Containers: Reopen in Container and press enter.

Launching ROS 2 Packages

Open two terminals in Visual Studio Code. In the first terminal, build, source, and execute the launch bringup with the following commands:

colcon build && source install/setup.bash
ros2 launch diffdrive_bringup diffdrive_bringup.launch.py

In the second terminal, launch the teleop node with the following command:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Click the play button in Gazebo, and you can now interact with the diff drive robot.

Remarks

The repository contains two branches: on the main branch, the diff drive controller is set up with the ros2_control plugin, while on the gazebo_diff_drive branch, it is set up with the Gazebo plugin.