A ROS 2 Jazzy package for simulate ackerdrive robot. TODO: Add some sensors and worlds to illustrate SLAM
To run the Gazebo Rviz demo log into the Docker container terminal and run:
ln -s /workspace/packages/msbot/ /workspace/msbot_ws/src/
cd /workspace/msbot_ws/
colcon build --symlink-install
source install/setup.bash
ros2 launch msbot_bringup sim.launch.py
To move the robot, make sure Gazebo is running by pressing the play button in Gazebo opened GUI and from another terminal in container run:
gz topic -t "model/msbot/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.05}"