The New Architecture of Gazebo Wrappers for ROS 2 @ ROSCon 2019

ROSCon 2019 presentation by Louise Poubel (@chapulina) and Jose Luis Rivero (@jrivero).

Dependencies

• Gazebo 9
• ROS 2 Dashing
• SimSlides
• UAV testing

Build

1. Install the ROS Dashing as instructed here.

2. Install gazebo_ros_pkgs, which also installs Gazebo:

    sudo apt install ros-dashing-gazebo-ros-pkgs
   

3. Build this package together with SimSlides:

    mkdir -p ws/src
    cd ws/src
    git clone https://github.com/chapulina/simslides -b master
    git clone https://github.com/chapulina/roscon_gz_ros2 -b master
    git clone https://github.com/osrf/uav_testing -b ros2_initial_port
    cd ..
    colcon build --packages-up-to roscon_gz_ros2
   

Run

    . /usr/share/gazebo/setup.sh
    . ~/ws/install/setup.sh
    ros2 launch roscon_gz_ros2 roscon.launch.py verbose:=true

Press the play button on the top, or F5 to start the presentation.

Demos

This presentation / simulation contains demos of 14 different plugins from the gazebo_plugins package. Each demo has its own slide. Click on the arrow to open a dialog with information about the plugin.

You can also skip directly to the demos by typing the slide number on the top box:

Plugin	Slide
gazebo_ros_camera	35
gazebo_ros_diff_drive	36
gazebo_ros_video	37
gazebo_ros_gps_sensor	44
gazebo_ros_imu_sensor	45
gazebo_ros_force	46
gazebo_ros_bumper	47
gazebo_ros_ray	48
gazebo_ros_planar_move	49
gazebo_ros_joint_state_publisher	50
gazebo_ros_joint_pose_trajectory	51
gazebo_ros_projector	52
gazebo_ros_hand_of_god	53
gazebo_ros_vacuum_gripper	54

Performance

If the simulation is laggy, it's probably the large heightmap causing low FPS. If that's the case, you can try:

• Setting the heightmap level of detail on ~/.gazebo/gui.ini:

  [heightmap]
  lod=3
  

• Lowering the resolution of your monitor 😄

• Comment out the heightmap from the SDF file 😬