Gazebo simulation - NTheuws/linorobot2_software GitHub Wiki

This step is entirely optional.

Gazebo is a simulation which enables you to run the application on a virtual robot. This is mainly used for fine-tuning paramaters (ie. SLAM Toolbox, AMCL, Nav2) or testing the application. This step is entirely optional and in case you're not planning on using it in the future, feel free to skip forward to 3. Host machine - RVIZ configurations.

In case you've decided to follow this step, make sure to do so on the host machine. This is a computer or laptop that you'll be working with to run tools like gazebo or RVIZ.

Install linorobot2 package on the host machine:

cd <host_machine_ws>
git clone -b $ROS_DISTRO https://github.com/linorobot/linorobot2 src/linorobot2
rosdep update && rosdep install --from-path src --ignore-src -y --skip-keys microxrcedds_agent --skip-keys micro_ros_agent
colcon build
source install/setup.bash

• microxrcedds_agent and micro_ros_agent dependency checks are skipped to prevent this issue of finding its keys. This means that you have to always add --skip-keys microxrcedds_agent --skip-keys micro_ros_agent whenever you have to run rosdep install on the ROS2 workspace where you installed linorobot2.

Set LINOROBOT2_BASE env variable to the type of robot base used. Available env variables are 2wd, 4wd, and mecanum. For example:

echo "export LINOROBOT2_BASE=2wd" >> ~/.bashrc
source ~/.bashrc

You can skip the next step (RVIZ configuration) since this package already contains the same RVIZ configurations to visualize the robot.

Previous step: Linorobot2 package

Next step: RVIZ configuration