Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version jazzy
Last Updated 2025-07-09
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 Jazzy
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the irobot_create_msgs repository into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/iRobotEducation/create3_sim.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

README

iRobot® Create® 3 Simulator

Testing License

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Only Gazebo Harmonic is supported.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

  1. ROS 2 humble
  2. ROS 2 dev tools:

Besides the aforementioned dependencies you will also need Gazebo Harmonic.

Gazebo Harmonic

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ros-gz

Build

  • Create a workspace if you don’t already have one:
mkdir -p ~/create3_ws/src

  • Clone this repository into the src directory from above.
  • Clone the []irobot_create_msgs repository](https://github.com/iRobotEducation/irobot_create_msgs) into the workspace

  • Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
sudo apt-get update
rosdep install --from-path src -yi

  • Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash

Run

Gazebo Harmonic

Create® 3 can be spawned in a demo world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

The spawn point can be changed with the x, y, z and yaw launch arguments:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py x:=1.0 y:=0.5 yaw:=1.5707

Namespacing

A namespace can be applied to the robot using the namespace launch argument:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=my_robot

Multiple robots can be spawned with unique namespaces:

ros2 launch irobot_create_gz_bringup create3_gz.launch.py namespace:=robot1
ros2 launch irobot_create_gz_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0

:warning: create3_gz.launch.py should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned with create3_spawn.launch.py. Namespaces and spawn points should be unique for each robot.

Package layout

This repository contains packages for both the Classic and Ignition Gazebo simulators:

  • irobot_create_common Packages common to both Classic and Ignition
    • irobot_create_common_bringup Launch files and configurations
    • irobot_create_control Launch control nodes
    • irobot_create_description URDF and mesh files describing the robot
    • irobot_create_nodes Nodes for simulating robot topics and motion control
    • irobot_create_toolbox Tools and helpers for creating nodes and plugins

File truncated at 100 lines see the full file