Repo is directly based on https://github.com/ros-controls/gz_ros2_control/tree/humble/gz_ros2_control_demos and https://control.ros.org/humble/doc/gz_ros2_control/doc/index.html

Setup

1. Install Gazebo Fortress See: https://gazebosim.org/docs/fortress/install_ubuntu/

2. Install necessary ROS2 Humble Packages ign_ros2_control ign_ros2_control_demos ros_gz_sim ros_gz_bridge teleop_tools rqt_image_view

3. !Adjust Path to world in launch file! @TODO: Use relative package path in launch files This needs to be adjusted: in launch/ackermann_drive_example.launch.py launch_arguments=[('gz_args', [' -r -v 4 replace here your absoute path ros2_ws/src/ros2_ackermann_gazebo/world/emtpy_export.sdf'])]),

4. Build and Source Workspace $colcon build & source install/setup.bash

5. Launch the Package $ros2 launch ros2_ackermann_gazebo ackermann_drive_example.launch.py

6. Launch the Teleop Keys $ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/ackermann_steering_controller/reference -p stamped:=True

7. Inspect with RViz or rqt_image_view the camera feed $ros2 run rqt_image_view rqt_image_view

Workspace Structure

├── launch
│   ├── ackermann_drive_example.launch.py
│   └── __pycache__
│       └── ackermann_drive_example.launch.cpython-310.pyc
├── LICENSE
├── package.xml
├── README.md
├── resource
│   └── ros2_ackermann_gazebo
├── ros2_ackermann_gazebo
│   └── __init__.py
├── setup.cfg
├── setup.py
├── sys_reqs (Packages installed on tested system)
│   ├── installed_ros2_packages.txt
│   └── sys_packages.txt
├── test
│   ├── test_copyright.py
│   ├── test_flake8.py
│   └── test_pep257.py
├── urdf
│   └── test_ackermann_drive.xacro.urdf (Robot Definition containing sensors + sensor locations (e. g. by setting camera_link))
└── world
    ├── emtpy_export.sdf (World containing the Racetrack texture as Ground)
    ├── racetrack.png (Racetrack Texture)
    └── racetrack.svg (Inkscape Graphic containing the Ractrack)

Useful for Development

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/example_racetrack/models

Good Reference

https://github.com/arashsm79/ros-ign-gazebo-camera/tree/main/camera-sensor-example/launch

Migration of Gazebo Classic to Igntition / Gazebo

https://gazebosim.org/api/gazebo/6/migrationsdf.html

Old Texture Modeling -> see Migration Guide

https://classic.gazebosim.org/tutorials?tut=color_model

Parameter Bridge

ros2 run ros_gz_bridge parameter_bridge image_raw@sensor_msgs/msg/Image@gz.msgs.Image

Sensors Documentation

https://gazebosim.org/docs/fortress/sensors/