Skip to content

README.md

Latest commit

 

History

History
34 lines (30 loc) · 1.6 KB

README.md

File metadata and controls

34 lines (30 loc) · 1.6 KB

🥋 PROJECT NEO

Getting He1nz to dodge bullets like the chosen one.

Report Link Presentation Link

Quick Start

To get started recursively clone the repository with

git clone --recursive https://github.com/DominicZahn/ROS2-Gazebo-Docker.git

It is important that the subrepositories ROS2-Gazebo-Docker and ros2_heinz are included.

Setup and Docker Control

The general interaction with the Docker container can be seen in the subrepository ROS2-Gazebo-Docker.

Launch Smith

Inside the running docker the dodge example can be executed by launching all nodes with a single launch file.

ros2 launch dodge_it stability.launch.py sim:=rviz_manual

This command launches the following nodes

  • center_of_mass
  • support_polygon
  • robot_state_publisher
  • rviz2

Now the RViz window should appear and show how the optimization is solved step by step. The time each step takes is highly depended on the computational capabilities of your system.