turtlebot4_gz

To launch the simulation, run

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

Wait for the simulation environment to load completely, then press the orange play button in the lower-left corner to start the simulation. The robot starts docked on its charger.

Worlds

The default simulation world is the depot environment. To chage worlds, use the world argument. Supported worlds are:

• depot (default)
• maze

Robot spawn location

By default the robot spawns at the origin. To change the robot’s spawn location, use the x, y, z and yaw arguments. Note that changing z may result in the robot spawning in the air or below the ground plane, depending in the value used.

Changelog for package irobot_create_ignition_bringup

3.0.2 (2024-08-26)

3.0.1 (2024-08-25)

3.0.0 (2024-08-25)

• Jazzy updates (#229)
• Contributors: Chris Iverach-Brereton

2.1.0 (2023-05-15)

• Multi robot support (#207)
• Added ign_ros2_control dependency as it is released now. (#204)
• Contributors: Roni Kreinin, roni-kreinin

2.0.0 (2023-01-19)

• Update to ROS 2 Humble (#197)

  • Update message names to https://github.com/iRobotEducation/irobot_create_msgs/pull/10
  • rename dock topic into dock_status

  * comment ign_ros2_control dependency as it must be built from sources Co-authored-by: Francisco Martín Rico <<fmrico@gmail.com>>

• add missing dependency to irobot-create-common-bringup (#186)

• Contributors: Alberto Soragna, Francisco Martín Rico

1.0.1 (2022-04-12)

• add boost as explicit dependency and remove unnneded boost usage (#175)
  • add boost as explicit dependency and remove unnneded boost usage
  • do not search for boost component in Boost library

1.0.0 (2022-03-31)

• Use package:// to reference meshes (#168)

  * Set GAZEBO_MODEL_URI to empty string to prevent model downloads. Added /usr/share/gazebo-11/models/ to GAZEBO_MODEL_PATH to use local ground plane and sun models. Using package:// instead of <file://> for mesh paths.

  • Append to GAZEBO_MODEL_PATH

• Split [irobot_create_toolbox]{.title-ref} (#153)

  • rename irobot_create_toolbox into irobot_create_nodes
  • move common utilities to irobot_create_toolbox
  • register irobot_create_nodes as rclcpp_components
  • update readme
  • use new node names in parameter files
  • remove declare parameter utility and fix linter tests

• Added pose publisher (#154)

• Use ign_ros2_control (#148)

  • Use ign_ros2_control
  • Removed remapping
  • Documentation

• fix gazebo ignition world name (#150)

• Ignition Gazebo support (#144)

  • Updated URDF to work with both gazebo classic and ignition:
  • Added gazebo arg to create3.urdf.xacro and standard_dock.urdf.xacro. This arg sets which gazebo version to use.
  • Added ray sensor macro which creates the correct sensor given the gazebo arg
  • Added ignition plugins when gazebo=ignition
  • Adjusted front caster position to better align with the create3 model
  • Adjusted wheeldrop spring stiffness to compensate for the front caster position change
  • Launch joint_state_publisher and diffdrive_controller only in classic

  * Use joint_state_publisher for both ignition and classic Cleaned up gazebo launch arg Adjusted front caster position

  • Simulation -> simulator

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