Run cd <cloned_repo>
sudo docker build -t gazebo-vehicle-ros2-gpu-harmonic:humble .sudo docker compose run vehicle_simulator_gz_sim- Once inside the container run
cd ros2_ws/ && colcon build source ~/.bashrc- To setup gazebo for the first time, run
ros2 launch vehicle_bringup unirobot.launch.py. This can quite a bit of time (Patience is key :p). Once the Gazebo GUI is open and you can see, move around and interact with the world, you can close this launch file. Gazebo is set for future use. - To launch the robot simulation after running (5), run
ros2 launch vehicle_bringup unirobot.launch.py - You should be able to teleop the robot through the teleop window in gazebo.
The namespace of the robot is currently set to robot_0.
The ROS_DOMAIN_ID is set to 55 in the .bashrc
There are currently two model types. More will be available soon! (Drones, Legged Robots, Multi-Robot Simulations)
You can modify the spawn_robot.launch.py in the vehicle_packages to select your desired model.
You can choose from model and model_with_2_lidars
