Yahboom G1 Tank

ROS2 Jazzy + Gazebo Harmonic Simulation

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Foxglove Studio Visualization

Use Foxglove Studio for real-time 3D visualization of the robot, topics, and transforms.

wss://tank.asimo.io/foxglove
Open Foxglove Studio

Quick Start

  1. Click "Open Foxglove Studio" above (opens in new tab)
  2. The connection URL will be pre-filled
  3. Add panels: 3D, Raw Messages, Plot, etc.
  4. Subscribe to topics like /odom, /tf, /robot_description

Nav2 Navigation

The robot has autonomous navigation enabled. Send navigation goals using Foxglove or CLI.

Foxglove Navigation:

  1. Open Foxglove Studio and add a 3D panel
  2. In 3D panel settings, enable "Publish goal pose"
  3. Click the goal tool (flag icon) in the 3D panel toolbar
  4. Click on the ground in the 3D view to set a navigation goal

Quick Navigation Goals (CLI):

Click a button to copy the navigation command, then paste in terminal.

Navigation Topics:

/goal_pose
/navigate_to_pose
/plan
/local_costmap
/global_costmap

Available ROS2 Topics

/odom
/tf
/tf_static
/cmd_vel
/joint_states
/robot_description
/clock

Manual Control

Send velocity commands via the Foxglove "Publish" panel or use ROS2 CLI:

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2}, angular: {z: 0.0}}" --once