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simulator

README.md

simulator

Usage

$ ros2 launch simulator simulation.launch.py -s
Arguments (pass arguments as '<name>:=<value>'):

    'config':
        Path to the parameters file that will be added to all nodes (except Gazebo ones). Must be either an absolute path or a relative path within the simulator package's share dir.
        (default: 'config/simulation.yaml')

    'world':
        Path to the world model file to load. Must be either an absolute path or a relative path within the simulator package's share dir.
        (default: 'worlds/test_world.world')

    'urdf_model':
        Path to the robot URDF file (xacro supported). Must be either an absolute path or a relative path within the simulator package's share dir.
        (default: 'urdf/gokart/main.urdf')

    'rviz_config':
        Path to the RViz config file to use. Must be either an absolute path or a relative path within the simulator package's share dir.
        (default: 'rviz/demo.rviz')

    'headless':
        If true, no GUI tools (gzclient, rviz, teleop) are started.
        (default: 'False')

    'start_gzclient':
        Whether to start Gazebo GUI (gzclient).
        (default: 'true')

    'start_rviz':
        Whether to start RViz.
        (default: 'False')

    'start_joint_state_publisher_legacy':
        Whether to start joint_state_publisher. Not needed anymore. simulator_gazebo_plugin publishes joint states by default (at the correct frequency). Do NOT this use unless you set simulator_gazebo_plugin publishJointStates to false.
        (default: 'false')

    'teleop':
        Start teleop tool. Allowed values: key, joy, none.
        (default: 'none')

Examples

  • key teleop 
    ros2 launch simulator simulation.launch.py teleop:=key
  • key teleop and RViz 
    ros2 launch simulator simulation.launch.py teleop:=key start_rviz:=true

Cones spawning

There is a cone_spawner node that can be started using the following command:

ros2 run simulator spawn_cones.py --ros-args -p distance_between_cones=5.0

The distance_between_cones param can be changed during runtime (for example using rqt_reconfigure). Whenever the value changes, all cones are removed and a new set is spawned.

See its source code for more info.

Useful resources