Palletron Gazebo

This repository provides the ROS 2 package to simulate the Palletron robot on Gazebo.

System requirements

This package was built and tested on:

• Ubuntu 22.04.3 LTS (Jammy Jellyfish)
• ROS Humble Hawksbill
• Gazebo Classic simulator

Installation

Follow the instructions:

• On your workspace, clone this repository.

cd ~/<your_workspace>/src
git clone https://github.com/thulioguilherme/palletron_gazebo.git

• Install all the dependencies using rosdep.

cd ~/<your_workspace>
rosdep install --from-paths src --rosdistro humble --ignore-src -r -y

• Build it using colcon.

colcon build

Usage

Start any Gazebo world of your preference, only ensuring that its launcher loads the libgazebo_ros_factory.so plugin.

Spawn a single robot

Use the spawn_robot launcher to spawn a single robot.

ros2 launch palletron_gazebo spawn_robot.launch.py

Tip: Add the -s option after the launcher name to see all the arguments.

Spawn more than one robot

We support multi-robot spawns through the spawn_multi_robot launcher.

ros2 launch palletron_gazebo spawn_multi_robots.launch.py