pushback_sim

Simulation world of the VEX Push Back field + a few test envionments using ROS2 Jazzy Jalisco & Gazebo Harmonic. This package only contains world files. See the repository Autonomous-VEXU/vex_robot for robot models + spawners.

Required Packages

• ros_gz_sim
• turtlebot3_gazebo
• turtlebot3_description
• turtlebot3
• xacro

Launching a World

In order to launch a world, the workspace must first be built and sourced. Make sure you are in the correct directory before running the commands: colcon build --symlink-install and then source install/setup.bash.

Here is a general command to launch a specific world:
ros2 launch pushback_sim world_select.launch.py world:=<world>

Note: The </world> tag is where you put the name of the world that you want to launch.

World Guide + Descriptions

block_test: 3 blocks with various visual and collision geometries
collision_spheres: VEX Field with octocube visual meshes + sphere collision meshes
empty: Just as it sounds, a completely empty world
sensor_test: Asymmetric field used for testing sensors setups in sim
pushback_spheres: VEX Push Back full field with sphere primatives for blocks
pushback_no_blocks: VEX Push Back field with no blocks
pushback: VEX Push Back field set up to usual standards

Main File Structure:

pushback_sim/
├── launch/
│   ├── basic_field.launch.py
│   ├── tb3_field.launch.py
│   └── world_select.launch.py
├── models/
│   ├── blue-sphere
│   ├── clear-objects
│   ├── lidar-test-field
│   ├── red-sphere
│   ├── vex-ball-blue
│   ├── vex-ball-csb
│   ├── vex-ball-csr
│   ├── vex-ball-red
│   └── vex-field
├── worlds/
│   ├── block_test.sdf
│   ├── collision_spheres.sdf
│   ├── empty.sdf
│   ├── sensor_test.sdf
│   ├── pushback_comp.sdf
│   ├── pushback_v2.sdf
│   └── using_full_spheres.sdf
├── CMakeLists.txt
├── package.xml
└── resources.txt

Model Sub-Directory File Structure:

models/
└── model-name/
    ├── meshes/
    │   ├── model-part.dae
    │   └── model-part-collision.dae
    ├── model.config
    └── model.sdf

ROS Resources:

ROS2 Jazzy Jalisco Documentation
ROS Index
Nav2 Documentation
Gazebo Harmonic Documentation
Open Robotics Discourse
Robotics Stack Exchange Simulation Description Format (SDF)