# TITA_ROS2_Control_Sim

**Repository Path**: wangfaqi/TITA_ROS2_Control_Sim

## Basic Information

- **Project Name**: TITA_ROS2_Control_Sim
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-03-28
- **Last Updated**: 2025-03-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<p align="center"><strong>tita_simulation</strong></p>
<p align="center"><a href="https://github.com/${YOUR_GIT_REPOSITORY}/blob/main/LICENSE"><img alt="License" src="https://img.shields.io/badge/License-Apache%202.0-orange"/></a>
<img alt="language" src="https://img.shields.io/badge/language-c++-red"/>
<img alt="platform" src="https://img.shields.io/badge/platform-linux-l"/>
</p>
<p align="center">
    语言：<a href="./docs/docs_en/README_EN.md"><strong>English</strong></a> / <strong>中文</strong>
</p>

## Description

Tita simulation environments, including `Webots` and `Gazebo`.

## Prerequisites

- **Operating System**: Ubuntu 22.04
- **ROS 2**: Humble
- **Webots**: R2023b
- **Gazebo**: classic

## Dependencies

```bash
sudo apt install ros-humble-ros2-control
sudo apt install ros-humble-ros2-controllers

# build webots
sudo apt install ros-humble-webots-ros2
# build gazebo
sudo apt install ros-humble-gazebo-ros2-control
sudo apt install ros-humble-gazebo-ros
```

## Build Package

```bash
mkdir tita_ws/src && cd tita_ws/src
git clone https://github.com/DDTRobot/TITA_Description.git
sudo mkdir -p /usr/share/robot_description
sudo cp -r TITA_Description/tita /usr/share/robot_description/tita
git clone https://github.com/DDTRobot/TITA_ROS2_Control_Sim.git
colcon build --packages-up-to sim_bringup 
source install/setup.bash
ros2 launch sim_bringup sim_bringup.launch.py sim_env:=gazebo #[option: webots, gazebo]
```
In the launch file, the default controller to start is `effort_controllers/JointGroupEffortController`. Create a new terminal and enter the following command to confirm if the controller is working properly.
```bash
ros2 topic pub /tita/effort_controller/commands std_msgs/msg/Float64MultiArray "{data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0]}"
```
![alt text](doc/output.gif)
If you want to write your own controller, you can modify it according to `template_ros2_controller`.