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Gazebo Simulation Guide

This guide covers setting up and using the Gazebo simulator with the OM1 ROS2 SDK.

Prerequisites

To set up the Gazebo Simulator, please install ROS2 Humble first.

Note

If you are using ROS2 Jazzy, you might need to manually modify the configuration file for SLAM and NAV2 to ensure compatibility.

Installation

Once ROS2 Humble is installed, install all necessary dependencies.

sudo apt install ros-humble-rmw-cyclonedds-cpp
sudo apt install ros-humble-rosidl-generator-dds-idl

Configuration

Use the following CycloneDDS configuration. It uses lo as the network interface.

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI='
<CycloneDDS>
    <Domain>
        <General>
            <Interfaces>
                <NetworkInterface address="127.0.0.1" priority="default" multicast="default" />
            </Interfaces>
    </General>
        <Discovery>
            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
        </Discovery>
    </Domain>
</CycloneDDS>'

Running the Simulator

Start the Gazebo Simulator (Go2)

ros2 launch go2_gazebo_sim go2_launch.py

Start the OM1 Sensor

To generate the OM Path:

ros2 launch go2_sdk sensor_launch.py use_sim:=true

Start Auto SLAM

To automatically generate the map:

ros2 launch go2_sdk slam_auto_launch.py use_sim:=true

Supported Platforms

Currently, Gazebo simulation is available for:

  • Unitree Go2

Support for G1 and Tron is planned for future releases.