clearpath_simulator

Setup

Prerequisites:

• Install ROS 2 Jazzy

Gazebo Harmonic

See Gazebo Installation for more information on installing Gazebo.

sudo apt-get install ros-${ROS_DISTRO}-ros-gz

Workspace

mkdir ~/clearpath_ws/src -p
cd ~/clearpath_ws/src
git clone https://github.com/clearpathrobotics/clearpath_simulator.git
cd ~/clearpath_ws
rosdep install -r --from-paths src -i -y
colcon build --symlink-install

Setup path

mkdir ~/clearpath

Copy your robot.yaml into ~/clearpath

Launch

ros2 launch clearpath_gz simulation.launch.py

Worlds

The clearpath_gz package includes several simulation worlds. To select a specific world, use the world launch parameter, e.g.

ros2 launch clearpath_gz simulation.launch.py world:=pipeline

Available worlds are:

Creating Map Tiles

The orchard, pipeline, and solar_farm worlds include geotagged TIF images in the geotif directory. These images can be used to generate map tiles of the simulation environment, if desired.

To generate the tiles, first install the gdal-bin package:

sudo apt install gdal-bin

Then run the following command to generate the tiles:

gdal2tiles.py $(ros2 pkg prefix clearpath_gz)/share/clearpath_gz/geotif/WORLD_geo.tif

substituting WORLD with orchard, pipeline, or solar_farm.

The generated files will be located in the current working directory in a new directory called WORLD_geo (e.g. pipeline_geo).

Note that while the simulation worlds’ locations have been chosen to be geographically similar to the envrionments depicted, the simulations are wholly fictional locations; the generated tiles will not mesh seamlessly into any satellite map of the region depicted.