my_robot

A template project integrating ROS 2 and Gazebo Garden simulator.

Included packages

• robot_description - holds the sdf description of the simulated system and any other assets.

• robot_gazebo - holds gazebo specific code and configurations. Namely this is where systems end up.

• robot_app - holds ros2 specific code and configurations.

• robot_bringup - holds launch files and high level utilities.

Usage

1. Install dependencies

   cd ~/template_ws
   rosdep install --from-paths src --ignore-src -r -i -y --rosdistro humble

2. Build the project

   colcon build

3. Source the workspace

   . ~/template_ws/install/setup.sh

4. Launch the simulation

   ros2 launch robot_bringup diff_drive.launch.py