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ros-simulation / gazebo_ros_demos

Example robots and code for interfacing Gazebo with ROS
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README.md is for ROS1, not ROS2 such as Foxy #46

Closed Kakcalu13 closed 2 years ago

Kakcalu13 commented 2 years ago

Basically title.

I tried colcon build as well and it gave me an error like this image

Do you want me to update them for you if i found a way to make it work?

wilcobonestroo commented 2 years ago

I am new to the Gazebo / ROS2 Control combination and I am trying to get the examples up and running. I also started looking into the foxy branch, but it looks like the ahcorde/port/ros2 branch is more up to date. It builds in ROS Foxy. However, on my machine the rrbot is not loaded in Gazebo. I have to dive into it to find out what the problem is there. https://github.com/ros-simulation/gazebo_ros_demos/tree/ahcorde/port/ros2

Kakcalu13 commented 2 years ago

This is so outdated. I'm closing this.

@wilcobonestroo Here are some hints. First of all, I encourage you to post your question related Gazebo only in https://answers.gazebosim.org/questions/

For Ros2, post it in https://answers.ros.org/questions/

Feel free to ask on one site using two things (like ros2 + gazebo) but I highly recommend you to ask for specific thing.

Now, to answer your questions...there's A LOT of stuff on gazebo. Let me correct my term..IGNITION Gazebo, not the classic gazebo (aka gazebo11)

See here: https://github.com/ignitionrobotics

So, with ros2 and ign is available! See here

chef kiss All stuff is available here. So all you need to do is grow extra brain. I have 3 brains right now.

See all docs and stuff here: https://ignitionrobotics.org/home

DO not confuse yourself with Ignition by inductive automation. It's not related to ign gazebo at all.

"B-b-b-but senpai, you didn't answer my question on ros2 control combination.."

BEHOLD! There's two ways to use ros2 control, actually! First of all, I prefer this method since it's so much easier and simple. It's joint_controller. See how I make my own robot to run like an encoder wheel using joint_controller.

More information here: joint_controller doc

This is my favorite and most effective method.

Now second option: If the above doesn't have what you need...check this out: ign ros2 control

I tried it a long time ago, but I decided to try the first method and fell in love with it!

"But this works with Citadel only..."

BEHOLD!!! The best thing about Ign is that it doesn't (was never) part of ROS2. They simply build a bridge between ros2 and ign. So, any version of Gazebo will NOT affect Foxy.

Clicked google translation

I used and am still using Foxy on all Ign gazebo versions (include Garden, Fortress, and Citadel).

What a good day! Playing "It's a great day" song

Hopefully, this is useful information. If you have more questions...just ask in gazebo forum as I am active over there!