Environment
Gazebo Harmonic
Ros Iron (ros2)
Install Gazebo
https://gazebosim.org/docs/harmonic/install_ubuntu
sudo apt-get install lsb-release wget gnupg
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo “deb [arch=$(dpkg –print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main” | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-harmonic
Run Gazebo
gz sim -v 4 -r visualize_lidar.sdf
# Test control
gz topic -e -t /model/vehicle_blue/cmd_vel
gz topic -t /model/vehicle_blue/cmd_vel -m gz.msgs.Twist -p “linear: { x: 0.1 }”
Install Ros gz bridge
ros topic: /model/vehicle_blue/cmd_vel, Type geometry_msgs/msg/Twist
to
gz topic: /model/vehicle_blue/cmd_vel, Type gz.msgs.Twist
ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist
# Test
ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist “linear: { x: 0.1 }”
Install keyboard control
ros2 run teleop_twist_keyboard teleop_twist_keyboard –ros-args -r /cmd_vel:=/model/vehicle_blue/cmd_vel
Rviz
Lidar Data
tf
Start rviz
Global Options -> Fixed Frame to vehicle_blue/lidar_link/gpu_lidar
Reference
https://docs.ros.org/en/iron/Tutorials/Advanced/Simulators/Gazebo/Gazebo.html
