Repository Summary
Checkout URI | https://github.com/LeoRover/leo_simulator-ros2.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2024-11-08 |
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 | 1.1.1 |
leo_gz_plugins | 1.1.1 |
leo_gz_worlds | 1.1.1 |
leo_simulator | 1.1.1 |
README
Packages for simulating Leo Rover in ROS2 and Gazebo
ROS 2 version | Gazebo version | Branch | Binaries hosted at |
---|---|---|---|
Humble | Fortress | humble | https://packages.ros.org |
Humble | Garden | humble | only from source |
Humble | Harmonic | humble | only from source |
Iron | Fortress | iron | https://packages.ros.org |
Iron | Garden | iron | only from source |
Iron | Harmonic | iron | only from source |
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.
-
Make sure you’ve installed ROS from binary repositories.
-
Install
ros-<distro>-leo-simulator
package. On Ubuntu with ROS Iron:
sudo apt install ros-iron-leo-simulator
From source
- Make sure you’ve installed ROS from binary repositories.
- (skip this step if using Fortress) Install Gazebo version you’d like to use from http://packages.osrfoundation.org repositories.
- (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
- (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
- Setup a colcon workspace:
mkdir -p ~/ws/src
- Clone this repository into the workspace:
cd ~/ws/src
git clone https://github.com/LeoRover/leo_simulator-ros2 -b <distro>
- Install dependencies using rosdep:
cd ~/ws
sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src -r
- 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
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/LeoRover/leo_simulator-ros2.git |
VCS Type | git |
VCS Version | jazzy |
Last Updated | 2024-11-08 |
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 | 2.0.1 |
leo_gz_plugins | 2.0.1 |
leo_gz_worlds | 2.0.1 |
leo_simulator | 2.0.1 |
README
Packages for simulating Leo Rover in ROS2 and Gazebo
ROS 2 version | Gazebo version | Branch | Binaries hosted at |
---|---|---|---|
Humble | Fortress | humble | https://packages.ros.org |
Humble | Garden | humble | only from source |
Humble | Harmonic | humble | only from source |
Iron | Fortress | iron | https://packages.ros.org |
Iron | Garden | iron | only from source |
Iron | Harmonic | iron | only from source |
Jazzy | Harmonic | ros2 | https://packages.ros.org |
Rolling | Harmonic | ros2 | https://packages.ros.org |
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 Rolling. See above for other ROS versions.
Binaries
Rolling binaries are available for Gazebo Harmonic. They are hosted at https://packages.ros.org.
-
Make sure you’ve installed ROS from binary repositories.
-
Install
ros-<distro>-leo-simulator
package. On Ubuntu with ROS Rolling:
sudo apt install ros-rolling-leo-simulator
From source
- Make sure you’ve installed ROS from binary repositories.
- Setup a colcon workspace:
mkdir -p ~/ws/src
- Clone this repository into the workspace:
cd ~/ws/src
git clone https://github.com/LeoRover/leo_simulator-ros2 -b <distro>
- Install dependencies using rosdep:
cd ~/ws
sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src -r
- 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
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/LeoRover/leo_simulator-ros2.git |
VCS Type | git |
VCS Version | ros2 |
Last Updated | 2024-11-08 |
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 | 2.0.0 |
leo_gz_plugins | 2.0.0 |
leo_gz_worlds | 2.0.0 |
leo_simulator | 2.0.0 |
README
Packages for simulating Leo Rover in ROS2 and Gazebo
ROS 2 version | Gazebo version | Branch | Binaries hosted at |
---|---|---|---|
Humble | Fortress | humble | https://packages.ros.org |
Humble | Garden | humble | only from source |
Humble | Harmonic | humble | only from source |
Iron | Fortress | iron | https://packages.ros.org |
Iron | Garden | iron | only from source |
Iron | Harmonic | iron | only from source |
Jazzy | Harmonic | ros2 | https://packages.ros.org |
Rolling | Harmonic | ros2 | https://packages.ros.org |
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 Rolling. See above for other ROS versions.
Binaries
Rolling binaries are available for Gazebo Harmonic. They are hosted at https://packages.ros.org.
-
Make sure you’ve installed ROS from binary repositories.
-
Install
ros-<distro>-leo-simulator
package. On Ubuntu with ROS Rolling:
sudo apt install ros-rolling-leo-simulator
From source
- Make sure you’ve installed ROS from binary repositories.
- Setup a colcon workspace:
mkdir -p ~/ws/src
- Clone this repository into the workspace:
cd ~/ws/src
git clone https://github.com/LeoRover/leo_simulator-ros2 -b <distro>
- Install dependencies using rosdep:
cd ~/ws
sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src -r
- 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
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/LeoRover/leo_simulator-ros2.git |
VCS Type | git |
VCS Version | iron |
Last Updated | 2024-11-08 |
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 | 1.1.1 |
leo_gz_plugins | 1.1.1 |
leo_gz_worlds | 1.1.1 |
leo_simulator | 1.1.1 |
README
Packages for simulating Leo Rover in ROS2 and Gazebo
ROS 2 version | Gazebo version | Branch | Binaries hosted at |
---|---|---|---|
Humble | Fortress | humble | https://packages.ros.org |
Humble | Garden | humble | only from source |
Humble | Harmonic | humble | only from source |
Iron | Fortress | iron | https://packages.ros.org |
Iron | Garden | iron | only from source |
Iron | Harmonic | iron | only from source |
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.
-
Make sure you’ve installed ROS from binary repositories.
-
Install
ros-<distro>-leo-simulator
package. On Ubuntu with ROS Iron:
sudo apt install ros-iron-leo-simulator
From source
- Make sure you’ve installed ROS from binary repositories.
- (skip this step if using Fortress) Install Gazebo version you’d like to use from http://packages.osrfoundation.org repositories.
- (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
- (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
- Setup a colcon workspace:
mkdir -p ~/ws/src
- Clone this repository into the workspace:
cd ~/ws/src
git clone https://github.com/LeoRover/leo_simulator-ros2 -b <distro>
- Install dependencies using rosdep:
cd ~/ws
sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src -r
- 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