Sphero Simulation

A ROS 2 simulation package for Sphero robots using the Stage simulator.

Contents

• sphero_description: URDF models and robot description files for Sphero robots
• sphero_stage: Stage simulation environment with configurable robot spawning and map support

Features

• Configurable number of robots (1-N)
• Multiple robot formation patterns (circle, line)
• Pre-built maps (empty, mazes, random obstacles)
• RViz2 visualization support
• ROS 2 Navigation stack integration

Usage

1. Build the packages:

   colcon build --packages-select sphero_description sphero_stage
   source install/setup.bash

2. Launch simulation:

   # Basic simulation
   ros2 launch sphero_stage start_ros2.py
   
   # With RViz visualization
   ros2 launch sphero_stage start_ros2.py start_rviz:=true

3. Configure simulation: Edit sphero_stage/launch/launch_params.yaml to modify:

   • Number of robots
   • Map selection
   • Robot formation patterns

For detailed usage and configuration options, see the README files in the individual package directories.