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‎source/demo_gazebo.rst‎

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###############
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Before running the demos it is necessary to get acquainted with the setup section of the documentation.
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Make sure you check: :ref:`setup_pc_only`
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Make sure you check: :ref:`prerequisites`.
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Launching the Simulation
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------------------------
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#. Clone the ``robotont_gazebo`` package into your workspace:
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.. code-block:: bash
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git clone https://github.com/robotont/robotont_gazebo.git
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#. Build and source the newly added package:
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.. code-block:: bash
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colcon build --packages-select robotont_gazebo
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source install/setup.bash
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#. Launch the simulator using the launch file:
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You can find the demos from the following repositories:
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.. code-block:: bash
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ros2 launch robotont_gazebo gazebo.launch.py
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Launch file arguments
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---------------------
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.. list-table::
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:header-rows: 1
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* - Name
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- Description
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- Options
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* - ``generation``
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- Specify the generation of robotont model that is to be loaded
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- 2.1, 3 (default)
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* - ``model``
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- Specify the model that is to be loaded into the world
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- robotont_gazebo_basic, robotont_gazebo_lidar, robotont_gazebo_nuc (default)
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* - ``world``
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- Specify world the robot is spawned in
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- bangbang.sdf, between.sdf, colors.sdf, mapping.sdf, maze.sdf, minimaze.sdf, minimaze_ar.sdf, empty_world.sdf (default)
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* - ``x``, ``y``, ``z``
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- Specify the robot's spawn pose
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- Number, 0 (default)
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#. `AR Demo Follow-the-leader <https://github.com/robotont-demos/ar_follow_the_leader.git>`__
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#. `AR Steering <https://github.com/robotont-demos/ar_steering.git>`__
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#. `Slam 2D <https://github.com/robotont-demos/demo_slam>`__
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#. `Mapping 3D <https://github.com/robotont-demos/demo_mapping_3d.git>`__
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.. tip::
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For example, loading the generation 3 model in colors.sdf world at pose (-2, 1, 0):
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.. code-block:: bash
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Launching the Simulation
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------------------------
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ros2 launch robotont_gazebo gazebo.launch.py world:=colors.sdf x:=-2 y:=1
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Worlds
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------
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.. list-table::
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:header-rows: 1
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* - World
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- Example
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- Launch Command
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* - minimaze.sdf
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- .. image:: /pictures/minimaze_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=minimaze.sdf``
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* - bangbang.sdf
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- .. image:: /pictures/bangbang_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=bangbang.sdf``
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* - between.sdf
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- .. image:: /pictures/between_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=between.sdf``
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* - colors.sdf
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- .. image:: /pictures/colors_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=colors.sdf``
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* - mapping.sdf
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- .. image:: /pictures/mapping_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=mapping.sdf``
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* - maze.sdf
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- .. image:: /pictures/maze_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=maze.sdf``
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* - minimaze_ar.sdf
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- .. image:: /pictures/minimaze_ar_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=minimaze_ar.sdf``
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Make sure you have already set up the simulation following the steps described in :ref:`gazebo_simulator`.
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2D Mapping and Localization

‎source/gazebo_simulator.rst‎

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Gazebo Simulator
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##############################
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This setup tutorial will guide you through setting up your PC to run the simulated robot with the demos.
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This setup tutorial will guide you through setting up your PC to run the simulated robot on gazebo and some basics commands.
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Make sure you check: :ref:`prerequisites`.
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Dependencies
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=======================
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Cloning Robotont's packages
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-----------------------------
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Make sure you check: :ref:`prerequisites` and you have cloned and tested robotont_description and robotont_nuc_description packages, you can find complete instructions on :ref:`visualize`.
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All Robotont's packages can be accessed from `Robotont's GitHub <https://github.com/robotont>`__.
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Packages necessary to run the Gazebo simulation with Robotont's demos are following:
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#. `robotont_description <https://github.com/robotont/robotont_description>`__
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#. `robotont_description <https://github.com/robotont/robotont_description>`__
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#. `robotont_nuc_description <https://github.com/robotont/robotont_nuc_description>`__
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#. `robotont_nuc_description <https://github.com/robotont/robotont_nuc_description>`__
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#. `robotont_gazebo <https://github.com/robotont/robotont_gazebo>`__
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#. `robotont_gazebo <https://github.com/robotont/robotont_gazebo>`__
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#. `robotont_navigation <https://github.com/robotont/robotont_navigation>`__
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#. `gz_planar_move <https://github.com/sygism/gz_planar_move>`__
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#. `robotont_msgs <https://github.com/robotont/robotont_msgs.git>`__
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You can find the demos from the following repositories:
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Install Gazebo Harmonic and the ROS ↔ Gazebo integration packages (required for simulation time `/clock`, physics stepping, and Gazebo transport bridges), plus common Robotont description tools:
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#. `AR Demo Follow-the-leader <https://github.com/robotont-demos/ar_follow_the_leader.git>`__
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#. `AR Steering <https://github.com/robotont-demos/ar_steering.git>`__
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#. `Slam 2D <https://github.com/robotont-demos/demo_slam>`__
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#. `Mapping 3D <https://github.com/robotont-demos/demo_mapping_3d.git>`__
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.. code-block:: bash
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See the :ref:`demos_on_gazebo` for more information about the demos.
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sudo apt update
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sudo apt install -y \
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gz-harmonic \
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ros-jazzy-ros-gz \
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ros-jazzy-ros-gz-sim \
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ros-jazzy-ros-gz-bridge \
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ros-jazzy-xacro \
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ros-jazzy-robot-state-publisher
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To clone the packages, for example, robotont_description:
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After cloning the Robotont and `gz_planar_move` repositories into your workspace `src/`, install remaining dependencies with rosdep:
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.. code-block:: bash
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git clone https://github.com/robotont/robotont_description.git
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Building the colcon workspace
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------------------------------
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cd ~colcon_ws
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rosdep update
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rosdep install --from-paths src --ignore-src -r -y
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Building and sourcing the colcon workspace
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=======================
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.. code-block:: bash
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cd colcon_ws
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colcon build
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Sourcing the workspace
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-----------------------
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Make the workspace visible to ROS 2 (must be done for every new terminal)
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Running the Simulation
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=======================
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Launch file arguments
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---------------------
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.. list-table::
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:header-rows: 1
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* - Name
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- Description
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- Options
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* - ``generation``
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- Specify the generation of robotont model that is to be loaded
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- 2.1, 3 (default)
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* - ``model``
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- Specify the model that is to be loaded into the world
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- robotont_gazebo_basic, robotont_gazebo_lidar, robotont_gazebo_nuc (default)
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* - ``world``
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- Specify world the robot is spawned in
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- bangbang.sdf, between.sdf, colors.sdf, mapping.sdf, maze.sdf, minimaze.sdf, minimaze_ar.sdf, empty_world.sdf (default)
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* - ``x``, ``y``, ``z``
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- Specify the robot's spawn pose
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- Number, 0 (default)
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.. tip::
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For example, loading the generation 3 model in colors.sdf world at pose (-2, 1, 0):
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.. code-block:: bash
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ros2 launch robotont_gazebo gazebo.launch.py world:=colors.sdf x:=-2 y:=1
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Worlds
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------
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.. list-table::
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:header-rows: 1
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* - World
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- Example
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- Launch Command
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* - minimaze.sdf
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- .. image:: /pictures/minimaze_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=minimaze.sdf``
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* - bangbang.sdf
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- .. image:: /pictures/bangbang_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=bangbang.sdf``
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* - between.sdf
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- .. image:: /pictures/between_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=between.sdf``
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* - colors.sdf
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- .. image:: /pictures/colors_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=colors.sdf``
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* - mapping.sdf
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- .. image:: /pictures/mapping_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=mapping.sdf``
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* - maze.sdf
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- .. image:: /pictures/maze_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=maze.sdf``
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* - minimaze_ar.sdf
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- .. image:: /pictures/minimaze_ar_world_example.png
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:width: 200px
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- ``ros2 launch robotont_gazebo gazebo.launch.py world:=minimaze_ar.sdf``
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After building and sourcing your workspace, you can spawn the robot in a gazebo world, for example:
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.. image:: /pictures/colors_world_example.png
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Open a second terminal and use ``teleop_twist_keyboard`` to control the robot:
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.. code-block:: bash
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ros2 run teleop_twist_keyboard teleop_twist_keyboard
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If everything worked correctly, you should see the following in your terminal:
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.. image:: /pictures/teleop_screenshot.png
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:width: 100%
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By pressing different keys in this terminal, you’ll see the robot move
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Refer to individual demo package READMEs for more details on launching specific demos.
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See the :ref:`demos_on_gazebo` for more information about the demos.

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