search

osrf / icra2023_ros2_gz_tutorial

ICRA 2023 tutorial on ROS 2 and the new Gazebo (MT28, ICC Capital Suite 14)
Apache License 2.0
229 stars 33 forks source link

Add Turtlebot 4 sim to Dockerfile #43

Closed mabelzhang closed 10 months ago

mabelzhang commented 10 months ago

Tutorial addition

Merge by Tue Feb 16 please.

Add Turtlebot 4 simulation packages to Dockerfile, to use as example for a new run of the tutorial. Caveat is that

  1. rosdep install pulls in Gazebo Fortress, which is on top of the Gazebo Garden we are installing in the Dockerfile. This isn't so clean, but I'm not going to change Turtlebot4 since we aren't authors there.
  2. It's running at <= 10% RTF on our laptops.
  3. Bringup takes a while. We thought it's just downloading models, but I checked ~/.gz/fuel afterwards, and there are no new models added beyond the splash screen ones? The world seems similar to one of the Gazebo splash screen ones we already burned into the Docker image.

Also Commented out ros2_documentation build because new Sphinx version error in #42.

Test

Follow test instructions here to build Dockerfile and test rviz2 and gz sim: https://github.com/osrf/icra2023_ros2_gz_tutorial/tree/main/docker

Plus test TB4

. ~/turtlebot4_ws/install/setup.bash
ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py
mabelzhang commented 10 months ago

I realized why I wasn't seeing any new files in ~/.gz/fuel. It's beause TB4 is in Fortress, so the Fuel models are in ~/.ignition/fuel. Currently testing. Will add line to copy models from ~/.ignition/fuel and retest.

mabelzhang commented 10 months ago

Thanks! Ignition models copied to Docker image in f63820d. Now the TB4 world shows up much faster.

mabelzhang commented 10 months ago

New images pushed to DockerHub. (includes #44 and the ~/.ignition/fuel directory for TB4 models)