Isaac-Linefollowing-ws

Robocon-Lidar-ws is a virtual robotics racing simulation built using Isaac Sim and ROS2, inspired by the Robocon competition. Two Robotnik Summit robots race by following a white line path while avoiding obstacles.

Tip: You can run your own control code on the robots! All sensors and ROS2 topics are ready—just change the logic and experiment.

📦 Requirements

• Isaac Sim
• ROS2 (Foxy or newer)
• Python 3.8+
• ros2_control, joy, and other ROS2 packages

🤖 Robot Control Commands

PID Line Following

cd src/summit_joystick_control
python3 LineFollowRobot2.py

Direct Velocity Control

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0,y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Joystick Control

Make sure your joystick is connected:

ros2 launch summit_joystick_control joystick_launch.py

🎥 Recording

Record Camera Feed to MP4

cd src/summit_joystick_control
python3 recordingpy

🛠️ Debugging

Check Joystick Input

ros2 topic echo /joy

Check Velocity Commands

ros2 topic echo /cmd_vel

🤖 Robot Model Credit

Robotnik Summit robot model used in simulation:
🔗 https://robotnik.eu/products/mobile-robots/rb-summit/