Gazebo Garden Simulation Example

This is a simple example of using gazebo garden for ROS simulation.

Pre-requisites

• Install Gazebo Garden from https://gazebosim.org/docs/garden/install_ubuntu
• Install Slam Toolbox https://github.com/SteveMacenski/slam_toolbox
• Install Nav2 https://navigation.ros.org/getting_started/index.html#installation

Running the simulation

• Clone this repository into your workspace
• Build the workspace
• Source the workspace

Running Basic Simulation

Run the following command to launch the simulation

ros2 launch gazebo_garden_simulation_example sim.launch.py 

Wait until the bridge is launch and in another terminal, run the following command to launch teleop

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Running SLAM Simulation

Run the following command to launch the simulation

ros2 launch gazebo_garden_simulation_example sim.slam.launch.py

Wait until the bridge is launch and in another terminal start SLAM

ros2 launch gazebo_garden_simulation_example slam.launch.py

Wait until the map is built and in another terminal, run the following command to launch teleop to start mapping

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Running Navigation Simulation

Run the following command to launch the simulation

ros2 launch gazebo_garden_simulation_example sim.nav.launch.py

Wait until the bridge is launch and in another terminal start Navigation

ros2 launch gazebo_garden_simulation_example nav.launch.py

Other Information

Modified version of tugbot is used in the simulation. The modified version is available in the models folder.