Dual Robot Simulation

ROS2 Humble workspace for simulating a TurtleBot4 and Hello Robot Stretch in a shared Gazebo environment.

Developed on

• Ubuntu 22.04 LTS
• ROS2 Humble
• Ignition Fortress v6.x

Dependencies

ROS2 Humble

Once installed:

source /opt/ros/humble/setup.bash

Or if using zsh:

source /opt/ros/humble/setup.zsh

TurtleBot4

sudo apt install ros-humble-turtlebot4-simulator ros-humble-irobot-create-nodes

Ignition Fortress

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ignition-fortress

Verify installed:

ign gazebo --version

Verify Turtlebot4 packages are installed:

Run Simulation:

ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=true nav2:=true rviz:=true

Build

cd $HOME
git clone https://github.com/fabu11/sntb4_ws.git
cd $HOME/sntb4_ws
colcon build --symlink-install --packages-up-to dual_robot

Source

source $HOME/sntb4_ws/install/setup.sh

Or if using zsh:

source $HOME/sntb4_ws/install/setup.zsh

Run Simulation (Once sourced)

ros2 launch dual_robot dual_robot.launch.py

Show args

ros2 launch dual_robot dual_robot.launch.py --show-args

Structure

dual_robot

Launch Files

This project uses two launch files:

1. stretch_spawn_only.launch.py
2. dual_robot.launch.py

stretch_spawn_only.launch.py

This launch file spawns in the Hello Robot stretch in any existing gazebo world. Dependent on stretch_gz_sim which can be found in the package stretch_ros2.

dual_robot.launch.py

This launch file utilizes the Turtlebot4 debian packages to launch the Turtlebot4 and Gazebo at the same time. Once these are loaded, stretch_spawn_only.launch.py is used to spawn the stretch in the same world.

Worlds

By default, the world is set to warehouse.sdf

List of worlds

1. warehouse.sdf
2. depot.sdf
3. maze.sdf

Acknowledgements

This repository utilizes gazebo port made by Cardiff University. Their port was built for Gazebo Sim Harmonic. To utilize the simulation on Ignition Fortress, the URDF was ported.