ROS 2 With Gazebo Sim Tutorial

This tutorial focuses on integrating a TurtleBot3 Waffle model into the modern Gazebo Sim (Ignition) environment with ROS 2. It involves adding a LiDAR sensor and a camera sensor to the model, ensuring their data can be visualized in RViz 2 .

Dependencies

This pkg need the following dependencies:

ros_gz_sim
ros_gz_bridge
sdformat

Run the tutorial

1. Navigate to the WS directory where the pkg is located and then build the ws and source the build:

colcon build
source install/setup.bash

2. Then run the pkg by the following command :

ros2 launch robot_description robot.launch.py 

3. The output will be as shown below:

4. To move the robot use teleop_twist_keyboard and navigate the robot inside the world:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

References:

1. https://www.youtube.com/watch?v=KVe2u_2igkc

2. https://www.youtube.com/watch?v=fH4gkIFZ6W8

3. https://github.com/joshnewans/articubot_one/commit/e8a355fe8eb52c5a40a5240347bc204350a61266#diff-65ffb387cac03394885d419fc3bc09dc5dbd26776bb60a01fba0de06399011ac

4. https://gazebosim.org/docs/latest/migrating_gazebo_classic_ros2_packages/