Documentation – Building & Launching launch.py Files

1. Prerequisites

Make sure you have installed:

• ROS 2 Humble (source /opt/ros/humble/setup.bash)
• colcon for building
• rosdep for dependency management

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2. Workspace Initialization

If not already done:

cd ~/tekbot_ws
colcon build
source install/setup.bash

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3. Install ROS 2 Dependencies (if needed)

From the workspace:

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

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4. Building the Workspace

cd ~/tekbot_ws
colcon build

If you encounter issues:

colcon build --packages-select <package_name> --symlink-install --event-handlers console_direct+

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5. Launching launch.py Files

General syntax:

ros2 launch <package_name> <launch_file_name>.launch.py

Launch the tekbot robot on the maze

To start gazbo and see the tekbot robot on the maze:

ros2 launch maze_solving tekbot_maze.launch.py

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Launch the maze solving

To launch the launch file in oder to solve the maze :

ros2 launch maze_solving maze.launch.py

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Launch the rviz

To launch rviz in oder to vizualise the mapping:

ros2 launch tekbot_description rviz.launch.py

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