cd ~/ros2_ws/src
git clone https://github.com/robotverseny/robotverseny_gazebo24
cd ~/ros2_ws
colcon build --symlink-install --packages-select robotverseny_application robotverseny_description robotverseny_bringup robotverseny_gazebo
ros2 launch robotverseny_bringup roboworks.launch.py
or without rviz:
ros2 launch robotverseny_bringup roboworks.launch.py rviz:=false
[!TIP]
Rviz 2d overlay
sudo apt install ros-humble-rviz-2d-overlay*
[!WARNING]
The commandexport IGN_GAZEBO_RESOURCE_PATH=
orexport IGN_GAZEBO_MODEL_PATH=
will delete your previous paths.
[!TIP] Gazebo Fortress: gazebosim.org/docs/fortress/install_ubuntu, read more about integration: gazebosim.org/docs/fortress/ros2_integration
ros-gz-bridge
install with a single command:sudo apt install ros-humble-ros-gz-bridge
Publish command topic:
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.01}}"
Teleop twist keyboard:
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/cmd_vel
Ignition info topic:
ign topic -i --topic /model/roboworks/cmd_vel
Ignition echo topic:
ign topic -et /model/roboworks/cmd_vel
Topics:
ros2 topic list
/clicked_point
/clock
/debug_marker
/debug_marker_left
/debug_marker_left_array
/debug_marker_right
/debug_marker_right_array
/goal_pose
/initialpose
/joint_states
/marker_path
/parameter_events
/robot_description
/roboworks/cmd_vel
/roboworks/odometry
/roboworks/scan
/steer_marker
/steer_marker_array
/rosout
/tf
/tf_static