ROS 2 version | Gazebo version | Branch | Binaries hosted at |
---|---|---|---|
Humble | Fortress | humble | https://packages.ros.org |
Humble | Garden | humble | only from source |
Humble | Harmonic | humble | only from source |
Iron | Fortress | iron | https://packages.ros.org |
Iron | Garden | iron | only from source |
Iron | Harmonic | iron | only from source |
Jazzy | Harmonic | ros2 | https://packages.ros.org |
Rolling | Harmonic | ros2 | https://packages.ros.org |
leo_simulator
- Metapackage which provides all other packages.leo_gz_bringup
- Launch files for starting simulation and adding Leo Rover inside a simulated world.leo_gz_plugins
- Gazebo plugins for simulated Leo Rover.leo_gz_worlds
- Custom simulation worlds.
This branch supports ROS Rolling. See above for other ROS versions.
Rolling binaries are available for Gazebo Harmonic. They are hosted at https://packages.ros.org.
-
Make sure you've installed ROS from binary repositories.
-
Install
ros-<distro>-leo-simulator
package. On Ubuntu with ROS Rolling:sudo apt install ros-rolling-leo-simulator
- Make sure you've installed ROS from binary repositories.
- Setup a colcon workspace:
mkdir -p ~/ws/src
- Clone this repository into the workspace:
cd ~/ws/src git clone https://github.com/LeoRover/leo_simulator-ros2 -b <distro>
- Install dependencies using rosdep:
cd ~/ws sudo rosdep init rosdep update rosdep install --from-paths src -y --ignore-src -r
- Build the project and source the workspace:
colcon build --symlink-install source install/setup.bash
Run a simulation world with leo rover:
ros2 launch leo_gz_bringup leo_gz.launch.py
Launch agruments:
sim_world
(default:leo_empty.sdf
) - The Gazebo world to use. Refer to the leo_gz_worlds package for available worlds.robot_ns
(default:""
) - Robot namespace
Example:
ros2 launch leo_gz_bringup leo_gz.launch.py sim_world:=marsyard2021.sdf robot_ns:=leo1
Add another leo rover to an already running gazebo world:
ros2 launch leo_gz_bringup spawn_robot.launch.py robot_ns:=leo2