Merge pull request #137 from boilerrobotics/gazebo

Gazebo

Author: tame0001

.vscode/.prettierrc

@@ -0,0 +1,4 @@
+{
+  "tabWidth": 2,
+  "useTabs": false
+}

.vscode/settings.json

@@ -18,6 +18,7 @@
     "ibus",
     "Intelli",
     "Jetson",
+    "libignition",
     "lsusb",
     "odrive",
     "odrivelib",

gazebo/README.md

@@ -0,0 +1,66 @@
+# Gazebo
+
+As Current JetPack 6 is a derived of Ubuntu 22.04, we will stick with Ubuntu 22.04 to minimize compatibility issues.
+In addition, we will use ROS2 Humble as it is a LTS version that supports Ubuntu 22.04.
+With this bundle of environments, it is recommended to use Gazebo Fortress.
+See this [document](https://gazebosim.org/docs/fortress/ros_installation) for ROS2 and Gazebo version pairing.
+Make sure you are looking for the documents with the right version.
+For example,
+
+| Differences  | Fortress           | Harmonic |
+| ------------ | ------------------ | -------- |
+| sdf version  | 1.8                | 1.10     |
+| plug-in name | libignition-gazebo | gz-sim   |
+
+## Installation
+
+You must install ROS2 before installing Gazebo.
+Then run this following command.
+
+```bash
+ sudo apt install ros-humble-ros-gz
+```
+
+Noted: if you use other version of ROS, you might need to compile by source
+Check this [document](https://github.com/gazebosim/ros_gz).
+
+## ROS-Gazebo integration
+
+You might see `ros_ign_xxx` in some documents.
+These commands are likely to be missing as the names have been changed to `ros_gz_xxx`.
+If you just copy commands from the tutorial and run into errors, check the command's name.
+
+## Run remote control simulation
+
+First we need to start a remote control node from [base_station](https://github.com/boilerrobotics/base-station/tree/main/src/joystick) repo.
+
+```bash
+ros2 launch joystick diff_drive_launch.yml
+```
+
+Joy node will read inputs from the joystick then map those inputs into Twist message.  
+Then navigate to Gazebo folder and run following command to bridge Twist message from ROS to Gazebo.
+See [ref1](https://gazebosim.org/docs/fortress/ros2_integration) and [ref2](https://index.ros.org/p/ros_gz_bridge/) for more detail about parameters.
+
+```bash
+ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=config.yaml
+```
+
+Then start Gazebo.
+After you start simulation and click on `play` button (or press space on your keyboard), you will be able to control the robot with the joystick
+
+```bash
+ign gazebo tutorial.sdf
+```
+
+### Run IMU
+
+```bash
+ign topic -e -t /imu
+```
+
+# View camera
+
+```bash
+rqt
+```

gazebo/config.yaml

@@ -0,0 +1,17 @@
+- ros_topic_name: "/cmd_vel"
+  gz_topic_name: "/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "ignition.msgs.Twist"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/imu"
+  gz_topic_name: "/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "ignition.msgs.IMU"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/camera"
+  gz_topic_name: "/camera"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "ignition.msgs.Image"
+  direction: GZ_TO_ROS