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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

  1. 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

  2. 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. Use VCS to import ros_gz_project_template as well as the dependencies that must be built from source.

mkdir -p ~/template_ws/src
cd ~/template_ws
vcs import --input https://raw.githubusercontent.com/gazebosim/ros_gz_project_template/main/template_workspace.yaml src

Usage

  1. Install dependencies

    cd ~/template_ws
source /opt/ros/humble/setup.bash
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -i -y

  2. Build the project

    colcon build

  3. Source the workspace

    source install/setup.bash

  4. Launch the simulation

    ros2 launch ros_gz_example_bringup diff_drive.launch.py

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