Repository Summary
Checkout URI | https://github.com/LeoRover/leo_simulator-ros2.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2024-01-04 |
Dev Status | MAINTAINED |
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 |
---|---|
leo_gz_bringup | 1.0.0 |
leo_gz_plugins | 1.0.0 |
leo_gz_worlds | 1.0.0 |
leo_simulator | 1.0.0 |
README
leo_simulator-ros2
Packages to simulate Leo Rover in ROS 2. * leo_simulator - Metapackage for this repository. * leo_gz_bringup - Launch files for starting simulation and adding Leo Rover inside a simulated world. * leo_gz_plugins - Gazebo plugins for simulated Leo Rover * leo_gz_worlds - Custom simulation worlds
Building the simulation
- Setup a colcon workspace
- Install ros_gz package (Gazebo Fortress or Garden)
- Clone leo_common-ros2 repository into the workspace:
cd your_workspace_name/src
git clone https://github.com/LeoRover/leo_common-ros2
- Clone this repository into the workspace:
git clone https://github.com/LeoRover/leo_simulator-ros2
- If using Gazebo Garden (skip this step if using Fortress):
export GZ_VERSION=garden
- Install dependencies using rosdep:
cd ..
sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src
- Build the project and source the workspace:
colcon build --symlink-install
source install/setup.bash
Run Simulation
Run a simulation world with leo rover:
ros2 launch leo_gz_bringup leo_gz.launch.py
Launch agruments: * sim_world: Path to the Gazebo world file * robot_ns: Robot namespace
Example:
ros2 launch leo_gz_bringup leo_gz.launch.py sim_world:=~/colcon_ws/src/leo_simulator-ros2/leo_gz_worlds/worlds/marsyard2021.sdf robot_ns:=your_namespace
Add another leo rover to an already running gazebo world:
ros2 launch leo_gz_bringup spawn_robot.launch.py robot_ns:=your_namespace
CONTRIBUTING
No CONTRIBUTING.md found.
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