Remade package.xml and added remade.md

agv_pro_gazebo/package.xml

@@ -4,17 +4,42 @@
   <name>agv_pro_description</name>
   <version>1.0.0</version>
   <description>
-    <p>URDF Description package for AGV pro</p>
+    <p>URDF Description package for AGV Pro</p>
   </description>
-  <maintainer email="weijun.xie@elephantrobotics.com">weijun.xie</maintainer>
-  <license>BSD-3-Clause license</license>
 
+  <maintainer email="weijun.xie@elephantrobotics.com">Weijun Xie</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <!-- Build tool -->
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>xacro</buildtool_depend>
 
+  <!-- Build dependencies -->
+  <depend>gazebo_ros_pkgs</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>joint_state_publisher</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>tf2</depend>
+  <depend>gazebo_ros_pkgs</depend>
+  <depend>ros2_control</depend>
+  <depend>controller_manager</depend>
+  <depend>joint_state_broadcaster</depend>
+  <depend>diff_drive_controller</depend>
+
+  <!-- 如果你的 launch 文件里直接调用了 teleop_twist_keyboard -->
+  <depend>teleop_twist_keyboard</depend>
+
+  <!-- Test dependencies -->
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
   <export>
+    <!-- Use ament_cmake build type -->
     <build_type>ament_cmake</build_type>
+    <!-- Register gazebo models path -->
+    <gazebo_ros gazebo_model_path="${prefix}/models"/>
   </export>
 </package>

agv_pro_gazebo/remade.md

@@ -0,0 +1,67 @@
+# AGV_Pro
+ROS2 packages for AGV_Pro
+
+> Software environment for Jetson Orin Nano
+
+```
+ubuntu 22.04
+ros2 humble
+gazebo 11
+```
+
+# Installation
+
+Create workspace and clone the repository.
+
+```
+git clone https://github.com/elephantrobotics/agv_pro_ros2.git agv_pro_ros2/src
+```
+
+Install dependencies
+
+```
+cd ~/agv_pro_ros2
+
+rosdep install --from-paths src --ignore-src -r -y
+```
+
+Build workspace
+
+```
+cd ~/agv_pro_ros2
+
+colcon build
+```
+
+Setup the workspace
+
+```
+source ~/agv_pro_ros2/install/local_setup.bash
+```
+
+```
+apt install ros-$ROS_DISTRO-gazebo-ros-pkgs
+
+sudo apt install ros-$ROS_DISTRO-ros2-controllers
+
+sudo apt install ros-humble-teleop-twist-keyboard
+```
+# Update to new version
+
+```
+cd ~/myagv_ros2/src
+
+git pull
+
+cd ..
+
+colcon build
+```
+# Start
+```
+ros2 launch agv_pro_description agv_pro_gazebo.launch.py
+```
+# keyboard Control
+```
+ros2 run teleop_twist_keyboard teleop_twist_keyboard
+```