Robotics - ROS2 Gazebo Differential Drive Onboard

Install Gazebo

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sudo apt install ros-iron-gazebo-ros-pkgs ros-iron-gazebo-ros2-control

Add A Launchfile

File Directory:

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├── launch
│   └── empty_world.launch.py

• mkdir launch

• setup.py Make sure to have:

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    data_files=[
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
        # Include all files in the launch directory
        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
    ],
  

• empty_world.launch.py

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from launch import LaunchDescription
from launch.actions import ExecuteProcess

def generate_launch_description():
    return LaunchDescription([
        ExecuteProcess(
            cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
            output='screen'
        )
    ])

Add An Arg In Launch File

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def generate_launch_description():
    # Declare launch arguments
    no_rviz_arg = DeclareLaunchArgument(
        'no_rviz',
        default_value='false',
        description='Flag to disable RViz'
    )
    no_rviz = LaunchConfiguration('no_rviz')
    # register the arg and the node
    ld.add_action(no_rviz_arg)
    ld.add_action(rviz_node)

Gazebo Tricks To Make Simulation Run Faster

How to make gazebo sim faster:

• Realtime factor: 0.0: so the clocks can run as fast as possible
• max_iterations: 120
• rviz2: rviz trick: ogre visualizer for clicking + F
  • sonar is at the back of the vehicle

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