A dockerised simulation respository for simulating a vehicle on GZ Sim.

Run cd <cloned_repo>

1. echo "xhost +" >> ~/.bashrc && source ~/.bashrc you can ignore if done already.
2. sudo chmod +x install-nvidia-container-toolkit.sh
3. ./install-nvidia-container-toolkit.sh
4. sudo docker build -t gazebo-vehicle-ros2-gpu-harmonic:humble .
5. sudo docker compose run vehicle_simulator_gz_sim
6. sudo chmod +x launch_simulation.sh
7. ./launch_simulation.sh
8. This will build the packages in the top-right terminal.
9. After the build is complete you can run what was inputted in the top-left terminal. This will launch gazebo and spawn the robot.
10. The GUI is disabled by default.
11. You should be able to teleop the robot through the teleop window.
12. You can run the default simulation RViz from the bottom-right terminal. As long as you are able to see the lidar pointcloud, the rgb and depth images on RViz, you can safely ignore the texture error messages on the simulation terminal window.

⚠️⚠️ For some reason, I was not able to get --symlink-install to work. Whenever you change the launch file, the ros2_ws needs to be built again using the command colcon build. ⚠️⚠️

Important information

The namespace of the robot is currently set to robot_0.

The ROS_DOMAIN_ID is set to 55 in the .bashrc

There are currently two model types. More will be available soon! (Drones, Legged Robots, Multi-Robot Simulations)

You can modify the spawn_robot.launch.py in the vehicle_packages to select your desired model.

You can choose from model and model_with_2_lidars