OpenBase2 Project

Welcome to the OpenBase2 Project! This repository contains the ROS2 packages necessary for controlling and simulating a differential drive robot. The packages included are:

• openbase2_msgs: Custom message definitions
• openbase2_scripts: Python scripts for hardware drivers and nodes
• openbase2_description: URDF files and robot description
• openbase2_bringup: Launch files for bringing up the entire system

Installation

1. Clone the repository:

   cd <your_workspace>/src
   git clone <github-repo-url> openbase2

2. Build the packages:

   cd <your_workspace>
   colcon build

3. Source the setup script:

   . install/setup.bash

Packages

openbase2_msgs

This package contains custom message definitions used by other packages.

• Messages:
  • MotorVels.msg: Contains two int16 fields for left and right PWM values.
  • EncoderData.msg: Contains two int64 fields for left and right wheel encoder data.

openbase2_scripts

This package contains Python scripts for hardware drivers and ROS2 nodes.

• Nodes:
  • hardware_driver: Handles communication with the hardware.
  • odom_node: Publishes odometry information based on encoder data.
  • diff_drive_node: Handles differential drive calculations and commands.

openbase2_description

This package contains URDF files and robot description files for visualization and simulation.

• Files:
  • display.launch.py: Launch file to display the robot in RViz.
  • robot.urdf: URDF file describing the robot.

openbase2_bringup

This package contains launch files to bring up the entire system.

• Launch Files:
  • bringup.launch.py: Launches the entire system in order.

Usage

1. Bring up the entire system:

   ros2 launch openbase2_bringup bringup.launch.py

2. Run individual nodes:

   # Run the hardware driver
   ros2 run openbase2_scripts hardware_driver
   
   # Run the odometry node
   ros2 run openbase2_scripts odom_node
   
   # Run the differential drive node
   ros2 run openbase2_scripts diff_drive_node

3. Visualize the robot:

   ros2 launch openbase2_description display.launch.py

Contributing

Contributions are welcome! Please fork the repository and create a pull request with your changes.

License

This project is licensed under the [TODO: Add your license here].

Acknowledgements

• Your Name

For more information, please contact the project maintainer.