Roberto Zegers R. rfzeg

Robotics Software Developer

rfzeg / ros2_gazebo_and_urdf_robot.launch.py

Last active September 9, 2023 09:00

ROS2 launch Gazebo and spawn URDF robot using Execute Process

	"""Launch Gazebo server and client with command line arguments."""
	"""Spawn robot from URDF file."""


	import os
	from ament_index_python.packages import get_package_share_directory
	from launch import LaunchDescription
	from launch.actions import ExecuteProcess
	from launch.substitutions import LaunchConfiguration
	def generate_launch_description():

rfzeg / launch_simulation_world_and_xacro_file.py

Created March 16, 2022 08:16

ROS2 launch file for simulation, world, xacro robot description and robot_state_publisher

	#!/usr/bin/python3
	# -- coding: utf-8 --
	import os

	from ament_index_python.packages import get_package_prefix
	from ament_index_python.packages import get_package_share_directory
	from launch import LaunchDescription
	from launch.actions import DeclareLaunchArgument
	from launch.actions import IncludeLaunchDescription
	from launch.conditions import IfCondition

rfzeg / CMakeLists.txt

Last active November 30, 2022 14:25

Python launch file to start a simulated world and include sdf models (does not spawn robot)

	cmake_minimum_required(VERSION 3.8)
	project(my_package)

	if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
	add_compile_options(-Wall -Wextra -Wpedantic)
	endif()

	# find dependencies
	find_package(ament_cmake REQUIRED)
	# uncomment the following section in order to fill in

rfzeg / print_number_of_laser_rays.py

Last active May 29, 2023 19:10

ROS2: Retrieve the total number of laser rays using the python interpreter (adjust topic name if neccesary)

	import rclpy
	from sensor_msgs.msg import LaserScan
	from rclpy.qos import ReliabilityPolicy, QoSProfile

	def scan_callback(msg):
	global g_node
	g_node.get_logger().info('Number of rays: "%d"' % len(msg.ranges))
	g_node.get_logger().info('Angle of first ray: "%.2f"' % msg.angle_min)
	g_node.get_logger().info('Angle of last ray: "%.2f"' % msg.angle_max)
	g_node.get_logger().info('Total angular area of coverage: "%.2f"' % (msg.angle_max-msg.angle_min))

rfzeg / how_to_install_turtlebot3_simulation.md

Created February 24, 2023 17:12

How to install a turtlebot3 ROS simulation.

If neccesary:

sudo apt-get update
sudo apt-get upgrade

Then:

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git -b noetic-devel

rfzeg / spawn_two_urdf_robots.launch.py

Created March 23, 2023 14:44

Spawn two robots from URDF files, without robot_state_publisher node (spawn_entity.py script with argument -file instead of -topic)

	import os
	from launch import LaunchDescription
	from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
	from launch.substitutions import Command, LaunchConfiguration
	from launch.launch_description_sources import PythonLaunchDescriptionSource
	from launch_ros.actions import Node
	from ament_index_python.packages import get_package_share_directory


	def generate_launch_description():