2. Simulation

For simulation, below process needs to be done in laptop/PC with ROS2 humble installed in it.

Clone the diadem repository into your workspace:

cd ~/ros2_ws/src  # Assuming ros2_ws is the name of the workspace
git clone -b humble-pixhawk-release https://github.com/rigbetellabs/diadem.git

Install dependent packages:

cd ~/ros2_ws/src/diadem
cat requirements.txt | xargs sudo apt-get install -y 

Build the workspace:

cd ~/ros2_ws
colcon build

To Launch simulation:

ros2 launch diadem_gazebo spawn_robot.launch.py 

The gazebo world looks like this:

Now you can teleop the robot by publishing the msgs on /cmd_vel topic