Migrate to new Gazebo - Githubissues

sampreets3 / autobot

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Migrate to new Gazebo #1

Closed sampreets3 closed 1 month ago

sampreets3 commented 1 month ago

Gazebo is dead, long live Gazebo!

Well, the support for Gazebo classic is coming to an end - and this seems like a good time to try and check out the new Gazebo simulator.

TODO:

[x] Port the URDF over to the new simulator
[x] Add in the plugins one by one
[x] Try sending command velocities and see if the robot responds
[x] Check if we can get a better RTF (score to beat: 0.68)

sampreets3 commented 1 month ago

For some reason, ros2_control chose not to work - most probably a misconfiguration of some sort. The gazebo diff drive plugin works quite well though.