ros_gz_project_template

A template project integrating ROS and Gazebo simulator

Included packages

• ros_gz_example_description - holds the sdf description of the simulated system and any other assets

• ros_gz_example_gazebo - holds gazebo specific code and configurations. Namely this is where systems end up.

• ros_gz_example_application - holds ros2 specific code and configurations

• ros_gz_example_bringup - holds launch files and high level utilities

Install

Use as template

Directly Use this template and create your project repository on github.

On Host System

Requirements

On Ubuntu Jammy

1. Install ROS 2 Humble

2. Install Gazebo Garden

3. Install necessary tools

   sudo apt install python3-vcstool python3-colcon-common-extensions git wget

Usage

1. Create a workspace, for example:

   mkdir -p ~/template_ws/src
   cd ~/template_ws/src
   

2. Clone the template:

   git clone 
   wget https://raw.githubusercontent.com/gazebosim/ros_gz_project_template/main/template_workspace.yaml
   vcs import < template_workspace.yaml
   cd ~/template_ws
   

3. Set the Gazebo version to Garden:

   export GZ_VERSION=garden
   

4. Install ROS dependencies

   sudo rosdep init
   rosdep update
   rosdep install --from-paths src --ignore-src -r -y -i
   

5. Build and install

   cd ~/template_ws
   colcon build --cmake-args -DBUILD_TESTING=ON
   

Run

1. Source the workspace

   . ~/template_ws/install/setup.sh

2. Launch the simulation

   ros2 launch ros_gz_example_bringup example.launch.py