Ignition Gazebo support - Githubissues

iRobotEducation / create3_sim

ROS 2 Simulation for the iRobot® Create® 3 Educational Robot

BSD 3-Clause "New" or "Revised" License

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Ignition Gazebo support #144

Closed roni-kreinin closed 2 years ago

roni-kreinin commented 2 years ago

Description

Added Ignition Gazebo support for the Create3.
Restructured packages to separate Classic and Ignition gazebo.
Moved center of gravity forwards by 22.8mm on the Create3 body for Ignition.
Adjusted position of caster wheel in Ignition. This accounts for the different physics behaviours between the DART and ODE physics engines.

Type of change

[x] New feature (non-breaking change which adds functionality)

How Has This Been Tested?

# Run this command
ros2 launch irobot_create_ignition_bringup create3_ignition.launch.py

Notes

Bumper contact sensor is not working. This seems to be an issue with ros_ign_bridge and spawning the robot from the launch file rather than from the world .sdf file
It is recommended to install Ignition Gazebo from source. I made some improvements to the Diff Drive plugin parameters which makes driving the robot much better. Installing the binary still works.

Checklist

[x] I have performed a self-review of my own code
[x] I have commented my code, particularly in hard-to-understand areas
[x] I have made corresponding changes to the documentation

alsora commented 2 years ago

@roni-kreinin can you resolve the conflicts with the main branch?

roni-kreinin commented 2 years ago

Done.

alsora commented 2 years ago

Thanks, we are getting close, there are only a few linter errors to fix.