Proportional-Controller-Implementation-for-a-automotive-urdf-model-in-Gazebo-Rviz

Implemented a proportional controller for a car in ROS2

#Launch file Descriptions: #display.launch

• Launches robot+mounted lidar in a rviz/basic_display configuration in RViz
• Used to check and verify visualization
• Command to launch:('ros2 launch car_cad display.launch')

#gazebo.launch

• Launches just the robot in a empty gazebo world
• Used to verify robot spawning in gazebo
• Command to launch:('ros2 launch car_cad gazebo.launch')

#teleop.launch

• Launches robot+lidar in the competition_arena world, with gazebo sim paused
• Used with car_teleop package to control the car using a keyboard
• Command to launch:('roslaunch robot_urdf teleop.launch')
• It also launches an rviz window which already where lidar scans are visualized
• Unpause gazebo sim to solve error on RVIZ

#subscriber.launch

• Launches robot+lidar in the empty world, with gazebo sim paused
• Used with open_loop_controller package to make the robot run in a straight line
• Command to launch:('ros2 launch car_cad subscriber.launch')

#How to build

• cd to workspace folder and run ('colcon build')
• if everything builds successfully (unless you have dependency issues), you can run any launch files

#How to Use

• Use display.launch (ros2 launch car_cad display.launch) to visualize robot_lidar in rviz, use the joint_state_publisher_gui to move nodes
• Use gazebo.launch (ros2 launch car_cad gazebo.launch) to spawn JUST THE ROBOT in gazebo
• For Teleop, run this package's teleop.launch file first (ros2 launch car_cad teleop.launch), once gazebo spawns the world, model, and controller, unpause gaz sim, and then open another terminal and type "roslaunch car_teleop teleop.launch".
• For Simple Pub-Sub, run the subscriber.launch file first (ros2 launch car_cad subscriber.launch), once everything spawns properly, unpause the sim, open another terminal, and run ros2 launch open_loop_controller command_publisher.launch. This should make the robot go in a straight line. To subscribe to the controller command topics, run ros2 launch open_loop_controller command_subscriber.launch

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