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ros_gz_project_template

A template project integrating ROS 2 and Gazebo simulator.

Included packages

ros_gz_example_description - holds the sdf description of the simulated system and any other assets.
ros_gz_example_gazebo - holds gazebo specific code and configurations. Namely this is where systems end up.
ros_gz_example_application - holds ros2 specific code and configurations.
ros_gz_example_bringup - holds launch files and high level utilities.

Install

For using the template with Gazebo Fortress switch to the fortress branch of this repository, otherwise use the default branch main for Gazebo Harmonic onwards.

Requirements

Choose a ROS and Gazebo combination https://gazebosim.org/docs/latest/ros_installation

Note: If you're using a specific and unsupported Gazebo version with ROS 2, you might need to set the GZ_VERSION environment variable, for example:
```
export GZ_VERSION=harmonic
```
Also need to build ros_gz and sdformat_urdf from source if binaries are not available for your chosen combination.

Install necessary tools

sudo apt install python3-vcstool python3-colcon-common-extensions git wget

Use as template

Directly Use this template and create your project repository on Github.

Or start by creating a workspace and cloning the template repository:

mkdir -p ~/template_ws/src
cd ~/template_ws/src
git clone https://github.com/gazebosim/ros_gz_project_template.git

Usage

Install dependencies

cd ~/template_ws
source /opt/ros/$ROS_DISTRO/setup.bash
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -i -y --rosdistro <ROS_DISTRO>

Build the project

colcon build --cmake-args -DBUILD_TESTING=ON

Source the workspace
```
. ~/template_ws/install/setup.sh
```

Launch the simulation

ros2 launch ros_gz_example_bringup diff_drive.launch.py

For a more detailed guide on using this template see documentation.