edu_simulation

Contains Gazebo simulation models for all EduArt's robots.

Installation

Native

If you want to run the simulation on your computer follow these steps.

Native

If you want to run the simulation on your computer follow these steps.

The simulation environment used for this package is gazebo

sudo apt install ros-humble-gazebo-plugins

For cloning this package you need "git":

sudo apt install git

Clone the package in your src-folder:

cd ~/<your ros2 workspace>/src
git clone https://github.com/EduArt-Robotik/edu_simulation.git

You need the edu_robot package. Currently you have to use the "develop"-branch. Check out the branch:

#If not already cloned clone edu_robot
cd ~/<your ros2 workspace>/src
git clone https://github.com/EduArt-Robotik/edu_robot.git

#Now change the branch!
cd <your ros2 workspace>/src/edu_robot
git checkout develop

#Check if the branch has been changed
git branch

Build edu_robot

cd <your ros2 workspace>
colcon build --packages-select edu_robot --event-handlers console_direct+ --symlink-install

Build edu_simulation

cd <your ros2 workspace>
colcon build --packages-select edu_simulation --event-handlers console_direct+ --symlink-install

Launching Simulator

After the package was built Gazebo it will be launched using a provided ROS launch file. This launch file adds all content coming with this package.

Source your ROS2 environment if not already done;

source ~/<your ros2 workspace>/install/setup.bash

Now you can launch Gazebo using following launch file:

ros2 launch edu_simulation eduard.launch.py

Note: The first launch takes the same minutes. The next launches will take much less time.

Models

link

Launching Simulator

After the package was built Gazebo it will be launched using a provided ROS launch file. This launch file adds all content coming with this package.

Source your ROS2 environment if not already done;

source ~/<your ros2 workspace>/install/setup.bash

Now you can launch Gazebo using following launch file:

ros2 launch edu_simulation eduard.launch.py

Note: The first launch takes the same minutes. The next launches will take much less time.

Models

link

World

Usage

Robots