ROS2 Gazebo Simulation with SLAM Toolbox

This repository contains code for a ROS2 Gazebo simulation using the Humble Hawksbill version on Ubuntu 22.04 Jammy Jellyfish. The simulation utilizes Gazebo as the simulator and teleop_twist_keyboard for robot movement.

Acknowledgment

This project was inspired by and based on the work of this repo [ https://github.com/joshnewans/articubot_one.git ]

Prerequisites

• ROS2 Humble Hawksbill
• Ubuntu 22.04 Jammy Jellyfish
• Gazebo
• teleop_twist_keyboard
• xacro

Getting the code on your machine

1. Create a workspace inside home (~)

mkdir map_ws

2. Go inside the ws and create a src folder

cd map_ws
mkdir src

3. Go inside the src folder and clone the repo

cd src
git clone https://github.com/DanaWentBananas/SimulatedMapping1.git

4. Make sure to change the name of the folder from SimulatedMapping1 to dev_pkg

5. Go back to the ws

cd ..

OR

cd path_to/map_ws

6. build it

colcon build

7. source !!

sudo vim ~/.bashrc

inside the file add these lines:

source /opt/ros/humble/setup.bash
source ~/map_ws/install/setup.bash
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

Running the Simulation

To run the simulation, follow the steps below:

1. Launch the robot state publisher:

ros2 launch dev_pkg rsp.launch.py

2. Launch rviz2 for visualization:

rviz2

3. Running gazebo in an alternative way since the normal way was giving an error when it was spawning the entity

gazebo -s libgazebo_ros_init.so -s libgazebo_ros_factory.so ~/dev_ws/src/dev_pkg/worlds/obstacles.world

4. Spawn the robot entity:

ros2 run gazebo_ros spawn_entity.py -topic robot_description -entity bott

5. Launch the SLAM Toolbox to generate a map: (it subscribes to /scan and /tf topics and published to /map)

ros2 launch slam_toolbox online_async_launch.py params_file:=~/dev_ws/src/dev_pkg/config/mapper_params_online_async.yaml

6. Control the robot using the keyboard:

ros2 run teleop_twist_keyboard teleop_twist_keyboard