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

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

Dependencies

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 😬