Rover Simulation Environment

This project provides a simulation environment for testing a rover connected to a multimodal model. The setup utilizes Gazebo for simulation and ROS 2 for communication.

Getting Started

Prerequisites

Make sure you have the following installed:

• Gazebo
• ROS 2 (Jazzy)
• ros_gz_bridge

Running the Simulation

1. Launch Gazebo
   Start the simulation environment with the following command:

   gz sim building_robot.sdf

2. Start the ROS Bridge
   Create a bridge between ROS 2 and Gazebo to facilitate communication. Run the command:

   ros2 run ros_gz_bridge parameter_bridge /camera_sensor/image_raw@sensor_msgs/msg/[email protected]

3. Subscribe to Camera Feed
   Finally, run the ROS node that subscribes to the camera sensor output:

   ros2 run camera_subscriber camera_subscriber_node

4. Visualize the Output
   Use a visualization tool to monitor the camera sensor data published to the topic:

   rqt_image_view /camera_sensor/image_raw

Contributing

Feel free to fork the repository and submit pull requests for improvements or new features.

License

This project is licensed under the MIT License.