Gazebo Garden

3/10/24

Gazebo is an open-source robotics simulator that provides a robust platform for testing and developing robotic applications in a highly realistic and dynamic environment. https://gazebosim.org/about

Installing Gazebo Garden

• Install ros_gz from the non official binary packages from apt

📦 Gazebo Garden with ROS 2 Humble, Iron or Rolling (Use with caution)

sudo apt-get install ros-humble-ros-gzgarden

Running the Simulation

• Run NektonDocker

cd $NEKTON_DOCKER_PATH
./start.sh

• Source the workspace

/nekton_ws# source install/setup.bash 

• Launch simulation for odometry

ros2 launch pontus_bringup odom_simulation.launch.py

Enable remote control

• For more info, see remote_control
• Open another interactive terminal session in the running container

docker exec -it nekton /bin/bash

• run remote control node

ros2 launch pontus_controller rc.launch.py auv:=sim

• To use teleop_twist_keyboard instead:

ros2 run teleop_twist_keyboard teleop_twist_keyboard