From abed4c9339b179678a4e6b4c4b0af3f52ce62bfc Mon Sep 17 00:00:00 2001 From: Michiel Leegwater Date: Fri, 9 Jan 2026 16:55:54 +0100 Subject: [PATCH 1/2] Added packages for simulation --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index cbefa11..fe56c1a 100644 --- a/README.md +++ b/README.md @@ -41,5 +41,7 @@ ros-jazzy-ros-base ros-jazzy-ros2-control ros-jazzy-ros2-controllers ros-jazzy-tf-transformations +ros-jazzy-ros-gz +ros-jazzy-rviz2 ros2-apt-source From 2201a196095b2121ff42e823efb88374d030eb83 Mon Sep 17 00:00:00 2001 From: Michiel Leegwater Date: Mon, 19 Jan 2026 13:16:20 +0100 Subject: [PATCH 2/2] Update README.md Added details about simulation and manual control of cmd_vel. --- README.md | 25 +++++++++++++++++++++++++ 1 file changed, 25 insertions(+) diff --git a/README.md b/README.md index fe56c1a..02154a0 100644 --- a/README.md +++ b/README.md @@ -26,6 +26,31 @@ Read temperature: This currently works on My Machine TM (use the generic instructions at the top first): `colcon build && source install/setup.bash && ros2 launch navigation boat.launch.py` +Replace `boat.launch.py` with `sim.launch.py` for the simulated stuff (laptop only! Requires GUI!) + +## Manual control via partial setup + +The current setup does not provide `/cmd_vel` commands other than 'stop'. +So you can try to do that yourself: + +``` +# Forward +ros2 topic pub -r 10 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2}, angular: {z: 0.0}}" +# Turn left +ros2 topic pub -r 10 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.0}, angular: {z: 0.5}}" +# Stop +ros2 topic pub -1 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" + +# Useful checks: +ros2 topic info /cmd_vel +ros2 interface show geometry_msgs/msg/Twist +ros2 topic echo /cmd_vel +ros2 topic list | grep cmd_vel + +# Keyboard-control: +ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/cmd_vel +``` + ## Installation of ROS2 packages Currently the following packages have been installed (these will introduce many dependencies, list generated with `apt-mark showmanual > ~/manual-packages.txt`: