Skip to content

Update readme #31

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
mleegwt wants to merge 3 commits into
base: master
Choose a base branch
from
Open

Update readme #31

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
abed4c9
Added packages for simulation
mleegwt Jan 9, 2026
2201a19
Update README.md
mleegwt Jan 19, 2026
7d53a08
Merge branch 'bertrik:master' into master
mleegwt Jan 19, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
27 changes: 27 additions & 0 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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`:
Expand All @@ -41,5 +66,7 @@ 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