ROS 2 Humble Test Environment with Gazebo Fortress

This provides instructions for setting up a test environment using Gazebo Fortress and ROS 2 Humble. The setup includes configurations for using the Husky robot and ensures that the necessary resources are in place for smooth operation.

Prerequisites

1. Install ROS2 Humble

Ensure you have ROS2 Humble installed on your system. Follow the official page at ROS2 Humble Debian Installation

2. Install Gazebo Fortress

If you need to install Gazebo Fortress, follow the instructions provided on the official page at Gazebo Installation.

3. Husky Configuration

To ensure that Gazebo can find the robot model, you need to export the following environment variable. Replace /path/to/ with the actual complete path where you clone the repository ros2_humble_gazebo_sim. Add this command to your terminal:

export IGN_GAZEBO_RESOURCE_PATH=/path/to/ros2_humble_gazebo_sim/resource:$IGN_GAZEBO_RESOURCE_PATH

4. Get ros2_humble_gazebo_sim

You can clone the repo ros2_humble_gazebo_sim anywhere in your system.

git clone https://github.com/dfki-ric/ros2_humble_gazebo_sim.git
cd ros2_humble_gazebo_sim
bash install_dependencies.bash

5. Usage

ros2 launch start.launch.py --show-args
Arguments (pass arguments as '<name>:=<value>'):

    'robot_name':
        Options: husky
        (default: 'husky')

    'world_file_name':
        Options: cave_circuit, urban_circuit_practice_03
        (default: 'cave_circuit')

    'use_joystick':
        Use a real joystick.
        (default: 'False')

    'joy_config_file':
        Full path to the joy config
        (default: 'joy_config_file')

    'teleop_twist_config_file':
        Full path to the teleop twist joy config
        (default: 'teleop_twist_config_file')

Robot Control

You can use the Teleop plugin of Gazebo for sending velocity commands to the robot. Click on the three dots in top-right corner of Gazebo window and search for Teleop. Select the plugin and adjust the values as shown in figure.

Alternative to the Teleop plugin, you can use a joystick for moving the robot. For this, set the argument use_joystick:=True. Adjust the config files in the folder /config of the ros2_humble_gazebo_sim package from Step 3. Provide the full paths to the arguments joy_config_file and teleop_twist_config_file as shown below:

ros2 launch start.launch.py use_joystick:=True joy_config_file:=/your_ros2_workspace/ros2_humble_gazebo_sim/simulation/config/joy_config.yaml teleop_twist_config_file:=/your_ros2_workspace/ros2_humble_gazebo_sim/simulation/config/teleop_twist_config.yaml

Cave Circuit

Urban Circuit Practice 03

Available Topics

ros2 topic list

/clock
/husky/cmd_vel
/husky/odometry
/husky/scan/points
/parameter_events
/rosout
/tf

References

1. https://app.gazebosim.org/MechaKim2/fuel/worlds/Cave%20Circuit
2. https://app.gazebosim.org/OpenRobotics/fuel/worlds/Urban%20Circuit%20Practice%2003
3. https://app.gazebosim.org/OpenRobotics/fuel/models/COSTAR_HUSKY_SENSOR_CONFIG_1