[Robot RL][Isaac sim 4.5][1] beginner – ros2, turtlebot3

reference

1. link

1.

home directory

git clone https://github.com/isaac-sim/IsaacSim-ros_workspaces.git
cd ~/IsaacSim-ros_workspaces/humble_ws/src
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3.git turtlebot3

create->environment->simple room

double clicks

differential_action graph -> r click -> open graph

we can contorl turtlebot3 by keyboard input such as wasd

3.

delete previous action graph and make new action graph

articulation controller note -> targetPrim -> turtlebot3_burger

4. ros2

move forward

ros2 topic pub /cmd_vel geometry_msgs/Twist "{'linear': {'x': 0.2, 'y': 0.0, 'z': 0.0}, 'angular': {'x': 0.0, 'y': 0.0, 'z': 0.0}}"

stop

ros2 topic pub /cmd_vel geometry_msgs/Twist "{'linear': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'angular': {'x': 0.0, 'y': 0.0, 'z': 0.0}}"

5. 3 link manipulator

rqt

ros2 topic pub /joint_command sensor_msgs/msg/JointState "{
  header: {
    stamp: {sec: 0, nanosec: 0},
    frame_id: ''
  },
  name: ['joint0', 'joint1', 'joint2'],
  position: [1.0, 0.5, 0.0],
  velocity: [],
  effort: []
}"