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ROS 2 F1/10 Wheeltec Gazebo simulation workshop

The workshop is ROS 2 compatible Static Badge

Video

Requirements (high-level)

  1. ROS 2 Humble: 🟠 see previous workshops or docs.ros.org/en/humble/Installation.html
  2. Gazebo Fortress: ✅ current workshop gazebosim.org/docs/fortress/install_ubuntu
  3. ROS gz bridge: ✅ current workshop, ROS integration. Install with a single command: sudo apt install ros-humble-ros-gz-bridge, gazebosim.org/docs/fortress/ros2_integration
  4. Build and run custom worlds and models ✅ current workshop (e.g. F1/10 / Wheeltec, Roboworks)
Image title
Official F1/10 vehicle vs Wheeltec Roboworks Ackermann Rosbot mini vehicle

Binary Installation on Ubuntu

Fortress binaries are provided for Ubuntu Bionic, Focal and Jammy. All of the Fortress binaries are hosted in the osrfoundation repository. To install all of them, the metapackage ignition-fortress can be installed. The following is based on gazebosim.org/docs/fortress/install_ubuntu.

First install some necessary tools:

sudo apt-get update

sudo apt-get install lsb-release wget gnupg

Then install Ignition Fortress:

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update

sudo apt-get install ignition-fortress

All libraries should be ready to use and the ign gazebo app ready to be executed.

Gazebo Fortress ROS 2 integration

Issue the following command:

sudo apt install ros-humble-ros-gz-bridge

sudo apt install ros-$ROS_DISTRO-ros-gz-bridge

Additional settings to WSL2

Warning - WSL2

There is an issue, which can be set even in ~/.bashrc:

export LIBGL_ALWAYS_SOFTWARE=1

Set it in ~/.bashrc: 

echo "export LIBGL_ALWAYS_SOFTWARE=1" >> ~/.bashrc

Don't forget to source bashrc. 
source ~/.bashrc

After new terminal or source:

echo $LIBGL_ALWAYS_SOFTWARE

should print 1. Alternatively 

cat ~/.bashrc | grep LIBGL
should print the line.

Check the installation

Success

Now the ign gazebo should work and the ros2 commands should be available.

Try at least one of the following commands:

ign gazebo

ign gazebo -v 4 -r ackermann_steering.sdf

ign gazebo shapes.sdf


ign param --versions

Packages and build

Detailed description of the packages and build process.

It is assumed that the workspace is ~/ros2_ws/.

cd ~/ros2_ws/src

git clone https://github.com/rudolfkrecht/robotverseny

Build

cd ~/ros2_ws

colcon build --symlink-install --packages-select robotverseny_application robotverseny_description robotverseny_bringup robotverseny_gazebo

Run

Don't forget to source before ROS commands. 
source ~/ros2_ws/install/setup.bash

ros2 launch robotverseny_bringup roboworks.launch.py

Useful commands

Publish command topic: 

ros2 topic pub --once /roboworks/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.01}}"

Teleop twist keyboard: 

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/roboworks/cmd_vel

Ignition info topic: 

ign topic -i --topic /model/roboworks/cmd_vel
Ignition echo topic:

ign topic -et /model/roboworks/cmd_vel

Topics:

ros2 topic list
Here are the topics. 
/clicked_point
/clock
/goal_pose
/initialpose
/joint_states
/parameter_events
/robot_description
/roboworks/cmd_vel
/roboworks/odometry
/roboworks/scan
/rosout
/tf
/tf_static