# box_bot

**Repository Path**: ncnynl/box_bot

## Basic Information

- **Project Name**: box_bot
- **Description**: ros2 gazebo multi robot  box_bot from https://bitbucket.org/theconstructcore/box_bot
- **Primary Language**: Python
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: https://ncnynl.com
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-12-09
- **Last Updated**: 2022-12-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README


####多机器人仿真box_bot 

- 环境： ubuntu 22.04 + ros2 humble 

- 搭建ROS2系统环境参考教程 
```
https://www.ncnynl.com/category/ros2-easy/
```

- 安装RCM 

```
cd ~; rm online.sh ; wget https://gitee.com/ncnynl/commands/raw/master/online.sh ; sudo chmod +x ./online.sh; ./online.sh
```

- 通过RCM安装： 

```
cs -s install_box_bot
```

- 启动仿真

```
ros2 launch box_bot_gazebo main.launch.xml
```

- 启动键盘控制

```
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/box_bot_1/cmd_vel
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/box_bot_2/cmd_vel
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/box_bot_3/cmd_vel
```

- 查看话题 

```
ros2 topic list 
```

- 查看里程 

```
ros2 topic echo /box_bot_1/odom
```

- 查看速度话题

```
ros2 topic echo /box_bot_1/cmd_vel
```

- 查看TF 

ros2 run rqt_tf_tree rqt_tf_tree