Simulating a robot using ROS 2 and Gazebo
Interfacing Gazebo Sim and ROS 2 involves controlling the simulated robot from ROS 2 using ROS topics, services, actions, and parameters, and subscribing to various types of robot sensor data from Gazebo as ROS 2 topics.
In this section, we will discuss how to simulate the URDF robot model that we designed in Chapter 4. The name of the robot we designed was rrbot, which is a robotic arm. We will discuss how to simulate and control this movement in Gazebo Sim. After discussing the rrbot simulation, we will see how to simulate wheeled robots in Gazebo Sim.
Integration of ROS 2 and Gazebo Sim
When you install Gazebo by installing the ros-${ROS_DISTRO}-ros-gz
package, it will install a series of ROS 2 packages that integrate ROS 2 and Gazebo Sim. The ros-gz
package is a meta package, meaning it doesn’t have any specific files, but it can install a set of dependent packages for ROS 2-Gazebo integration. Here is a list of packages...