Gazebo: Robot Simulation

The tutorial will guide you how to run a robot in Gazebo.

NeuronBot 2

NeuronBot Simulation supports both ROS 1 and ROS 2.

ROS 1

Refer to https://github.com/Adlink-ROS/neuronbot2/tree/noetic-devel

ROS 2

Refer to https://github.com/Adlink-ROS/neuronbot2/tree/foxy-devel

OmniBot (Optional)

OmniBot Simulation is modifed from turtlebot.

Source code: https://github.com/Adlink-ROS/gazebo_demo/tree/master/robotSimulation

Setup Environment

Build environment.

# Select ROS 1 melodic environment
source /opt/ros/melodic/setup.bash
mkdir ~/workspace
cd workspace
git clone https://github.com/Adlink-ROS/gazebo_demo.git
cd ~/workspace/gazebo_demo/robotSimulation
source setup.sh

Run Gazebo world

We'll simulate OmniBot in Gazebo.

# Select ROS 1 melodic environment
source /opt/ros/melodic/setup.bash
cd ~/workspace/gazebo_demo/robotSimulation
source model.sh
roslaunch turtlebot3_gazebo turtlebot3_world.launch

Run teleop

Control robot by using teleop_twist_keyboard in another terminal.

# Select ROS 1 melodic environment
source /opt/ros/melodic/setup.bash
cd ~/workspace/gazebo_demo/robotSimulation
source model.sh
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

SLAM and save map

Run SLAM with gmapping in another terminal.

# Select ROS 1 melodic environment
source /opt/ros/melodic/setup.bash
cd ~/workspace/gazebo_demo/robotSimulation
source model.sh
roslaunch turtlebot3_slam turtlebot3_slam.launch

Open new terminal to save the map.

# Select ROS 1 melodic environment
source /opt/ros/melodic/setup.bash
cd ~/workspace/gazebo_demo/robotSimulation/simulation_ws
mkdir maps
cd maps
rosrun map_server map_saver -f sim_map

Close SLAM and run naviagation and rviz.

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/workspace/gazebo_demo/robotSimulation/simulation_ws/maps/sim_map.yaml

(Optional) You can improve performance with the following command.

rosrun dynamic_reconfigure dynparam set gazebo max_update_rate 250
rosrun dynamic_reconfigure dynparam set gazebo time_step 0.004
# show the settings result
rosparam get /gazebo/max_update_rate
rosparam get /gazebo/time_step