gazebo-sim

Energy Meter Device

See here how to build and program our meter device.

---

Gazebo + ROS2

Before starting, here you can check how to run a standalone (without ROS) Gazebo Simulator on Docker.

Our image can be found here, and integrates both, Gazebo+Turtlebot Worlds+ROS2.

First of all, you need to build a Docker image (attention, it is a large image ~6GB):

$ git clone git@github.com:S2-group/ros-configurations.git
$ cd ros-configuration/docker/ros2/gazebo/large/
$ docker build -t gazebo-ros2 .

Now you need to configure your OS for Docker to run GUI apps. Note that the right thing would be to connect to the Gazebo server (gzserver) from a remote client (gzclient). However, we want to reduce network overhead. Therefore, we choose to run Docker apps with Rocker.

Install the Rocker:

$ pip install rocker

Running with NVidia display cards:

$ rocker --nvidia --x11 --home gazebo-ros2

Running with other/generic cards:

$ rocker --devices /dev/dri/card0 --x11 --home gazebo-ros2

From now on (if you followed the previous commands) you will be in the Docker container shell.

Set the environment variables:

# source source.sh

Run a simulation example:

# ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Remember to kill the Gazebo server before running something else:

# plill gzserver

This will help you to run a complete experiment with a simulated turtlebot.

---

Gazebo + ROS(1)

Compile your ROS1+Gazebo+Turtlebot image:

$ git clone git@github.com:S2-group/ros-configurations.git
$ cd ros-configuration/docker/ros/gazebo/large/
$ docker build -t ros-gazebo-turtlebot .

Run your image:

$ rocker --devices /dev/dri/card0 --x11 --home ros-gazebo-turtlebot

Set the environment variables:

# source /opt/ros/melodic/setup.sh

Follow the section 6.1.2 of the Robotis tutorial.

---

Robot Runner and Gazebo

...

---

Creating a World (Gazebo Model)

Follow this tutorial.

---

Our Models

...

Play with other models available here.