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ros2_rover repositoryrover gazebo ros2 swappy rover_bringup rover_description rover_gazebo rover_localization rover_motor_controller rover_motor_controller_cpp rover_msgs rover_navigation rover_teleop |
Repository Summary
| Description | A version of Sawppy the Rover for ROS 2 |
| Checkout URI | https://github.com/mgonzs13/ros2_rover.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-04-01 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | rover gazebo ros2 swappy |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| rover_bringup | 1.0.2 |
| rover_description | 1.0.2 |
| rover_gazebo | 1.0.2 |
| rover_localization | 1.0.2 |
| rover_motor_controller | 1.0.2 |
| rover_motor_controller_cpp | 1.0.2 |
| rover_msgs | 1.0.2 |
| rover_navigation | 1.0.2 |
| rover_teleop | 1.0.2 |
README
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`](https://github.com/mgonzs13/ros2_rover/tree/humble) | [](https://github.com/mgonzs13/ros2_rover/actions/workflows/humble-docker-build.yml?branch=humble) | [](https://hub.docker.com/r/mgons/rover/tags?name=humble) | [](https://mgonzs13.github.io/ros2_rover/) |
| **Iron** | [`humble`](https://github.com/mgonzs13/ros2_rover/tree/humble) | [](https://github.com/mgonzs13/ros2_rover/actions/workflows/iron-docker-build.yml?branch=humble) | [](https://hub.docker.com/r/mgons/rover/tags?name=iron) | [](https://mgonzs13.github.io/ros2_rover/) |
Table of Contents
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}
}
CONTRIBUTING
No CONTRIBUTING.md found.
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