Repository Summary
Checkout URI | https://github.com/iRobotEducation/create3_sim.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-08-30 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
irobot_create_common_bringup | 2.0.0 |
irobot_create_control | 2.0.0 |
irobot_create_description | 2.0.0 |
irobot_create_nodes | 2.0.0 |
irobot_create_toolbox | 2.0.0 |
irobot_create_gazebo_bringup | 2.0.0 |
irobot_create_gazebo_plugins | 2.0.0 |
irobot_create_gazebo_sim | 2.0.0 |
irobot_create_ignition_bringup | 2.0.0 |
irobot_create_ignition_plugins | 2.0.0 |
irobot_create_ignition_sim | 2.0.0 |
irobot_create_ignition_toolbox | 2.0.0 |
README
iRobot® Create® 3 Simulator
This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Both Ignition Gazebo and Classic Gazebo are supported.
Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.
Prerequisites
Required dependencies:
- ROS 2 humble
- ROS 2 dev tools:
- colcon-common-extensions
- rosdep: Used to install dependencies when building from sources
- vcs: Automates cloning of git repositories declared on a YAML file.
Besides the aforementioned dependencies you will also need at least one among Ignition Gazebo and Classic Gazebo
Classic Gazebo
Install Gazebo 11
Ignition Fortress
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 ignition-fortress
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.
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:
export IGNITION_VERSION=fortress
colcon build --symlink-install
source install/local_setup.bash
Run
Classic Gazebo
Empty world
Create® 3 can be spawned in an empty world in Gazebo and monitored through RViz with:
ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py
The spawn point can be changed with the x
, y
, z
and yaw
launch arguments:
ros2 launch irobot_create_gazebo_bringup create3_gazebo.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_gazebo_bringup create3_gazebo.launch.py namespace:=my_robot
Multiple robots can be spawned with unique namespaces:
ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py namespace:=robot1
ros2 launch irobot_create_gazebo_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0
:warning:
create3_gazebo.launch.py
should only be used once as it launches the Gazebo simulator itself. Additional robots should be spawned withcreate3_spawn.launch.py
. Namespaces and spawn points should be unique for each robot.
AWS house
Create® 3 can be spawned in the AWS small house in Gazebo and monitored through RViz.
This requires that the package aws_robomaker_small_house_world
is available.
If you need it, you can build aws_robomaker_small_house_world
in your ROS 2 workspace by doing:
vcs import ~/create3_ws/src/ < ~/create3_ws/src/create3_sim/irobot_create_gazebo/demo.repos
cd ~/create3_ws
colcon build --symlink-install
source install/local_setup.bash
Then you can run:
ros2 launch irobot_create_gazebo_bringup create3_gazebo_aws_small.launch.py
Ignition Gazebo
Create® 3 can be spawned in a demo world in Ignition and monitored through RViz with
ros2 launch irobot_create_ignition_bringup create3_ignition.launch.py
The spawn point can be changed with the x
, y
, z
and yaw
launch arguments:
ros2 launch irobot_create_ignition_bringup create3_ignition.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_ignition_bringup create3_ignition.launch.py namespace:=my_robot
Multiple robots can be spawned with unique namespaces:
ros2 launch irobot_create_ignition_bringup create3_ignition.launch.py namespace:=robot1
ros2 launch irobot_create_ignition_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0
:warning:
create3_ignition.launch.py
should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned withcreate3_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
-
-
irobot_create_gazebo
Packages used for the Classic Gazebo Simulator-
irobot_create_gazebo_bringup
Launch files and configurations -
irobot_create_gazebo_plugins
Sensor plugins -
irobot_create_gazebo_sim
Metapackage
-
-
irobot_create_ignition
Packages used for the Ignition Gazebo Simulator-
irobot_create_ignition_bringup
Launch files and configurations -
irobot_create_ignition_plugins
GUI plugins -
irobot_create_ignition_sim
Metapackage -
irobot_create_ignition_toolbox
Sensor and interface nodes
-
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/iRobotEducation/create3_sim.git |
VCS Type | git |
VCS Version | rolling |
Last Updated | 2023-01-19 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
irobot_create_common_bringup | 2.0.0 |
irobot_create_control | 2.0.0 |
irobot_create_description | 2.0.0 |
irobot_create_nodes | 2.0.0 |
irobot_create_toolbox | 2.0.0 |
irobot_create_gazebo_bringup | 2.0.0 |
irobot_create_gazebo_plugins | 2.0.0 |
irobot_create_gazebo_sim | 2.0.0 |
irobot_create_ignition_bringup | 2.0.0 |
irobot_create_ignition_plugins | 2.0.0 |
irobot_create_ignition_sim | 2.0.0 |
irobot_create_ignition_toolbox | 2.0.0 |
README
iRobot® Create® 3 Simulator
This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Both Ignition Gazebo and Classic Gazebo are supported.
:warning: To run with Ignition Gazebo you must first build and install the
gz_ros2_control
package master branch from sources!
Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.
Prerequisites
Required dependencies:
- ROS 2 rolling
- ROS 2 dev tools:
- colcon-common-extensions
- rosdep: Used to install dependencies when building from sources
- vcs: Automates cloning of git repositories declared on a YAML file.
Besides the aforementioned dependencies you will also need at least one among Ignition Gazebo and Classic Gazebo
Classic Gazebo
Install Gazebo 11
Ignition Edifice
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 ignition-edifice
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.
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:
export IGNITION_VERSION=edifice
colcon build --symlink-install
source install/local_setup.bash
Run
Classic Gazebo
Empty world
Create® 3 can be spawned in an empty world in Gazebo and monitored through RViz with
ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py
AWS house
Create® 3 can be spawned in the AWS small house in Gazebo and monitored through RViz.
This requires that the package aws_robomaker_small_house_world
is available.
If you need it, you can build aws_robomaker_small_house_world
in your ROS 2 workspace by doing:
vcs import ~/create3_ws/src/ < ~/create3_ws/src/create3_sim/irobot_create_gazebo/demo.repos
cd ~/create3_ws
colcon build --symlink-install
source install/local_setup.bash
Then you can run:
ros2 launch irobot_create_gazebo_bringup create3_gazebo_aws_small.launch.py
Ignition Gazebo
Create® 3 can be spawned in a demo world in Ignition and monitored through RViz with
ros2 launch irobot_create_ignition_bringup create3_ignition.launch.py
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
-
-
irobot_create_gazebo
Packages used for the Classic Gazebo Simulator-
irobot_create_gazebo_bringup
Launch files and configurations -
irobot_create_gazebo_plugins
Sensor plugins -
irobot_create_gazebo_sim
Metapackage
-
-
irobot_create_ignition
Packages used for the Ignition Gazebo Simulator-
irobot_create_ignition_bringup
Launch files and configurations -
irobot_create_ignition_plugins
GUI plugins -
irobot_create_ignition_sim
Metapackage -
irobot_create_ignition_toolbox
Sensor and interface nodes
-
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/iRobotEducation/create3_sim.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-08-30 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
irobot_create_common_bringup | 2.0.0 |
irobot_create_control | 2.0.0 |
irobot_create_description | 2.0.0 |
irobot_create_nodes | 2.0.0 |
irobot_create_toolbox | 2.0.0 |
irobot_create_gazebo_bringup | 2.0.0 |
irobot_create_gazebo_plugins | 2.0.0 |
irobot_create_gazebo_sim | 2.0.0 |
irobot_create_ignition_bringup | 2.0.0 |
irobot_create_ignition_plugins | 2.0.0 |
irobot_create_ignition_sim | 2.0.0 |
irobot_create_ignition_toolbox | 2.0.0 |
README
iRobot® Create® 3 Simulator
This is a ROS 2 simulation stack for the iRobot® Create® 3 robot. Both Ignition Gazebo and Classic Gazebo are supported.
Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.
Prerequisites
Required dependencies:
- ROS 2 humble
- ROS 2 dev tools:
- colcon-common-extensions
- rosdep: Used to install dependencies when building from sources
- vcs: Automates cloning of git repositories declared on a YAML file.
Besides the aforementioned dependencies you will also need at least one among Ignition Gazebo and Classic Gazebo
Classic Gazebo
Install Gazebo 11
Ignition Fortress
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 ignition-fortress
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.
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:
export IGNITION_VERSION=fortress
colcon build --symlink-install
source install/local_setup.bash
Run
Classic Gazebo
Empty world
Create® 3 can be spawned in an empty world in Gazebo and monitored through RViz with:
ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py
The spawn point can be changed with the x
, y
, z
and yaw
launch arguments:
ros2 launch irobot_create_gazebo_bringup create3_gazebo.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_gazebo_bringup create3_gazebo.launch.py namespace:=my_robot
Multiple robots can be spawned with unique namespaces:
ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py namespace:=robot1
ros2 launch irobot_create_gazebo_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0
:warning:
create3_gazebo.launch.py
should only be used once as it launches the Gazebo simulator itself. Additional robots should be spawned withcreate3_spawn.launch.py
. Namespaces and spawn points should be unique for each robot.
AWS house
Create® 3 can be spawned in the AWS small house in Gazebo and monitored through RViz.
This requires that the package aws_robomaker_small_house_world
is available.
If you need it, you can build aws_robomaker_small_house_world
in your ROS 2 workspace by doing:
vcs import ~/create3_ws/src/ < ~/create3_ws/src/create3_sim/irobot_create_gazebo/demo.repos
cd ~/create3_ws
colcon build --symlink-install
source install/local_setup.bash
Then you can run:
ros2 launch irobot_create_gazebo_bringup create3_gazebo_aws_small.launch.py
Ignition Gazebo
Create® 3 can be spawned in a demo world in Ignition and monitored through RViz with
ros2 launch irobot_create_ignition_bringup create3_ignition.launch.py
The spawn point can be changed with the x
, y
, z
and yaw
launch arguments:
ros2 launch irobot_create_ignition_bringup create3_ignition.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_ignition_bringup create3_ignition.launch.py namespace:=my_robot
Multiple robots can be spawned with unique namespaces:
ros2 launch irobot_create_ignition_bringup create3_ignition.launch.py namespace:=robot1
ros2 launch irobot_create_ignition_bringup create3_spawn.launch.py namespace:=robot2 x:=1.0
:warning:
create3_ignition.launch.py
should only be used once as it launches the Ignition simulator itself. Additional robots should be spawned withcreate3_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
-
-
irobot_create_gazebo
Packages used for the Classic Gazebo Simulator-
irobot_create_gazebo_bringup
Launch files and configurations -
irobot_create_gazebo_plugins
Sensor plugins -
irobot_create_gazebo_sim
Metapackage
-
-
irobot_create_ignition
Packages used for the Ignition Gazebo Simulator-
irobot_create_ignition_bringup
Launch files and configurations -
irobot_create_ignition_plugins
GUI plugins -
irobot_create_ignition_sim
Metapackage -
irobot_create_ignition_toolbox
Sensor and interface nodes
-
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/iRobotEducation/create3_sim.git |
VCS Type | git |
VCS Version | foxy |
Last Updated | 2021-10-20 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
irobot_create_control | 0.0.1 |
irobot_create_description | 0.0.1 |
irobot_create_gazebo | 0.0.1 |
irobot_create_gazebo_plugins | 0.0.1 |
irobot_create_sim | 0.0.1 |
irobot_create_toolbox | 0.0.1 |
README
iRobot® Create® 3 Simulator
This is a ROS 2 simulation stack for the iRobot® Create® 3 robot.
Prerequisites
Required dependencies:
- Ros 2 foxy: it's recommended to install the desktop version of the distribution of your choosing, this will also install RViz 2. Bare in mind that if another version is installed, some dependencies may be missing.
- Gazebo
- RViz2: this is included as part of the rosdep dependecies.
- ROS 2 dev tools:
- colcon-common-extensions
- rosdep: Used to install dependencies when building from sources
- vcs: Automates cloning of git repositories declared on a YAML file.
Optional dependencies:
- xterm: Used to teleoperate the robot with the keyboard.
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.
Use
vcs
to clone additional dependencies into the workspace:
vcs import ~/create3_ws/src/ < ~/create3_ws/src/create3_sim/dependencies.repos
- Navigate to the workspace and install ROS 2 dependencies with:
cd ~/create3_ws
rosdep install --from-path src -yi
- Build the workspace with:
colcon build --symlink-install
source install/local_setup.bash
Examples
Empty world
Create® 3 can be spawned in an empty world in Gazebo and monitored through RViz with
ros2 launch irobot_create_gazebo create3.launch.py
AWS house
Create® 3 can be spawned in the AWS small house in Gazebo and monitored through RViz.
This requires that the package aws_robomaker_small_house_world
is available.
If you need it, you can build aws_robomaker_small_house_world
in your ROS 2 workspace by doing:
vcs import ~/create3_ws/src/ < ~/create3_ws/src/create3_sim/demo.repos
cd ~/create3_ws
colcon build --symlink-install
source install/local_setup.bash
Then you can run:
ros2 launch irobot_create_gazebo aws_small.launch.py