Ignition Simulator Demonstration

Ignition Simulator Demonstration

The purpose of this demonstration is to show how:

The configuration file gz_bridge.yaml is used help setting the namespace of a robot with ros_gz_bridge.
How to configure the bridge directly in the launch file gz_bridge_no_config_file_launch.py.

Setup

Follow the steps described in our setup tutorial to configure your machine before running these demonstrations.

Repository Setup Instructions

Once your environment is ready, follow these steps to set up the project:

Clone the repository:
Download the project files to your computer.

git clone https://github.com/multirobotplayground/Jazzy-Multi-Robot-Sandbox.git
cd Jazzy-Multi-Robot-Sandbox

Initialize submodules:
Some dependencies are included as submodules. This command fetches them.

git submodule update --init --remote

Source ROS 2 environment:
Make sure your terminal session is using the correct ROS 2 distribution (here, jazzy).

source /opt/ros/jazzy/setup.bash

Build the workspace:
Compile all packages in the repository.

colcon build

Source the workspace:
Update your environment so ROS 2 can find the newly built packages.

source install/setup.bash

After completing these steps, your workspace will be ready to run the multi-robot simulations and integrations described in this guide.

Namespacing with Configuration File

Run the gz_bridge_config_file_launch.py launch file from the multi-robot-simulations package.
```
ros2 launch multi-robot-simulations gz_bridge_config_file_launch.py
```
If everything run correctly, ignition should open as follows:

Namespacing without a Configuration File

Run the gz_bridge_no_config_file_launch.py launch file from the multi-robot-simulations package.

ros2 launch multi-robot-simulations gz_bridge_no_config_file_launch.py

Checking the Topics and Transforms

Run the following to see the available topics:
```
ros2 topic list
```
The topics bellow are available for this demonstration, all under the namespace robot_0.
Check the transformation tree
```
ros2 run tf2_tools view_frames
```
This command will generate a pdf file showing the current transformation tree of the demo robot.

Support this Project

Support Open Source mobile robots projects for search and rescue in natural disasters, which is my main motivation. Your donation will make a huge difference!