NishCorp-Tech Wheelchair ROS 2 Package

A ROS 2 package for robotic wheelchair control, simulation, and visualization, developed by NishCorp-Tech. This package provides nodes and launch files for controlling, monitoring, and visualizing a robotic wheelchair platform in both RViz and Gazebo Ignition.

---

Features

• Complete ROS 2 control system for wheelchair operation
• Position control for seat rotation, arms, and footrests
• Velocity control for all four wheels
• Visualization in RViz
• Full physics simulation in Gazebo Ignition
• Example launch files for quick startup
• Modular and extensible design

---

Requirements

• ROS 2 Humble Hawksbill
• Python 3.8+
• Colcon build system
• RViz2
• Gazebo Ignition
• ros2_control and ros2_controllers
• ros_ign_gazebo

---

Installation

1. Clone the repository into your ROS 2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/Siddhant-nishcorptech/NishCorp-Tech.git

2. Install dependencies:

   cd ~/ros2_ws
   rosdep install --from-paths src --ignore-src -r -y

3. Build the package:

   cd ~/ros2_ws
   colcon build --packages-select wheelchair_ros

4. Source your workspace:

   source install/setup.bash

---

Usage

Running the RViz Visualization

To launch the display (visualization) for the wheelchair in RViz:

ros2 launch wheelchair display.launch.py

Running the Gazebo Simulation

To launch the wheelchair in Gazebo Ignition with full physics simulation:

ros2 launch wheelchair wheelchair_gazebo.launch.py

This will start Gazebo Ignition with the wheelchair model and all necessary controllers.

Running the Teleop Controller

To control the wheelchair using keyboard inputs, follow these steps:

1. Launch the Gazebo simulation:

ros2 launch wheelchair wheelchair_gazebo.launch.py

2. Launch the wheelchair control:

ros2 launch wheelchair wheelchair_control.launch.py

3. Run the teleop controller:

ros2 run wheelchair teleop_controller.py

---

Example Output

RViz Visualization

Gazebo Simulation

Teleop Control

---

Controllers

The package includes two main controller groups:

Position Controllers

• Seat Rotation (j1): Controls the seat's rotation
• Arms (j2, j3): Controls both wheelchair arms
• Footrests (j4, j5): Controls both footrests

Velocity Controllers

• Wheel Control (j6, j7, j8, j9): Controls all four wheels independently

---

Launch Files

• display.launch.py: Launches RViz visualization
• wheelchair.launch.py: Core wheelchair control and state publishing
• wheelchair_gazebo.launch.py: Launches Gazebo simulation with physics

---

Configuration

The package uses YAML configuration files located in the config directory:

• wheelchair.yaml: Controller configurations
• urdf.rviz: RViz visualization settings