Packages for simulating Leo Rover in ROS2 and Gazebo

Packages

• leo_simulator - Metapackage which provides all other packages.
• 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.

Install

This branch supports ROS Humble and Iron. See above for other ROS versions.

Binaries

Humble and Iron binaries are available for Gazebo Fortress. They are hosted at https://packages.ros.org.

1. Make sure you’ve installed ROS from binary repositories.

2. Install ros-<distro>-leo-simulator package. On Ubuntu with ROS Iron:

   sudo apt install ros-iron-leo-simulator
   

From source

1. Make sure you’ve installed ROS from binary repositories.
2. (skip this step if using Fortress) Install Gazebo version you’d like to use from http://packages.osrfoundation.org repositories.
3. (skip this step if using Fortress) Install ros_gz package for ROS and Gazebo version you’d like to use. For example:

   sudo apt install ros-iron-ros-gzgarden
   

1. (skip this step if using Fortress) Set the GZ_VERSION environment variable to the Gazebo version you’d like to compile against. For example:

   export GZ_VERSION=garden
   

1. Setup a colcon workspace:

   mkdir -p ~/ws/src
   

1. Clone this repository into the workspace:

   cd ~/ws/src
   git clone https://github.com/LeoRover/leo_simulator-ros2 -b <distro>
   

1. Install dependencies using rosdep:

   cd ~/ws
   sudo rosdep init
   rosdep update
   rosdep install --from-paths src -y --ignore-src -r
   

1. 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 (default: leo_empty.sdf) - The Gazebo world to use. Refer to the leo_gz_worlds package for available worlds.
• robot_ns (default: "") - Robot namespace

Example:

ros2 launch leo_gz_bringup leo_gz.launch.py sim_world:=marsyard2021.sdf robot_ns:=leo1

Add another leo rover to an already running gazebo world:

ros2 launch leo_gz_bringup spawn_robot.launch.py robot_ns:=leo2