Taeyoung96 / Multi-turtlebot3-Gazebo-ROS2

[ROS2 humble] Custom gazebo package

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Multi-turtlebot3-Gazebo-ROS2

What's New?

  • Multi turtlebot3 environment
  • Turtlebot3 with Velodyne VLP-16 environment
  • Multi turtlebot3 Velodyne VLP-16 environment

Result

Multi turtlebot3

multi-turtlebot3.mp4

Turtlebot3 with Velodyne VLP-16

turtlebot-velodyne.mp4

Build docker image

docker pull tyoung96/multi-turtlebot-gazebo

Make docker container

On local terminal,

git clone https://github.com/Taeyoung96/Multi-turtlebot3-Gazebo-ROS2.git
xhost +local:docker

After that,

nvidia-docker run --privileged -it \
           -e NVIDIA_DRIVER_CAPABILITIES=all \
           -e NVIDIA_VISIBLE_DEVICES=all \
           --volume=${Multi-turtlebot3-Gazebo_repo_root}:/root/workspace/src \
           --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
           --net=host \
           --ipc=host \
           --name=${docker container name} \
           --env="DISPLAY=$DISPLAY" \
           ${docker image} /bin/bash

⚠️ You should change {Multi-turtlebot3-Gazebo_repo_root}, {docker container name}, {docker image} to suit your environment.

For example,

nvidia-docker run --privileged -it \
           -e NVIDIA_DRIVER_CAPABILITIES=all \
           -e NVIDIA_VISIBLE_DEVICES=all \
           --volume=/home/taeyoung/Desktop/Multi-turtlebot3-Gazebo-ROS2:/root/workspace/src \
           --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
           --net=host \
           --ipc=host \
           --name=multi-turtlebot-gazebo \
           --env="DISPLAY=$DISPLAY" \
           --env="QT_X11_NO_MITSHM=1" \
           tyoung96/multi-turtlebot-gazebo:latest /bin/bash

Build and run it!

When you run the container, it looks like this

root@taeyoung-cilab:/#

Enter them in turn to proceed with the build.

cd root/workspace/
colcon build
export TURTLEBOT3_MODEL=burger
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/root/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models/
source install/setup.bash
  • TODO : There is a still warning message.

Re-enter the activated docker container

docker exec -it -w /root/workspace multi-turtlebot-gazebo /bin/bash
source /opt/ros/humble/setup.bash
source install/setup.bash

Multi-turtlebot3

ros2 launch turtlebot3_gazebo multi_turtlebot3_world.launch.py

Turtlebot3 with Velodyne VLP-16

ros2 launch turtlebot3_gazebo turtlebot3_velodyne_burger.launch.py

Mutli-turtlebot3 with Velodyne VLP-16

ros2 launch turtlebot3_gazebo multi_turtlebot3_velodyne_world.launch.py

For keyboard teleop

Check /tb3_0/cmd_vel and remapping topic.

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/tb3_0/cmd_vel

Check TF

ros2 run tf2_tools view_frames

TODO

When we run the launch file, we get an error display like the one below. It's fine to execute, but we need to figure out why.

Screenshot from 2023-07-12 23-32-57

Acknowldegement

multi_turtlebot3_world.launch code is used for ROS2 Navigation Online Course | The Construct.

For velodyne, I followed this youtube link and modified the code.

Each folder has their own license.

About

[ROS2 humble] Custom gazebo package

License:MIT License


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