Packages for simulating Leo Rover in ROS2 and Gazebo

ROS 2 version	Gazebo version	Branch	Binaries hosted at
Humble	Fortress	humble	https://packages.ros.org
Humble	Garden	humble	only from source
Humble	Harmonic	humble	only from source
Iron	Fortress	iron	https://packages.ros.org
Iron	Garden	iron	only from source
Iron	Harmonic	iron	only from source
Jazzy	Harmonic	ros2	https://packages.ros.org
Rolling	Harmonic	ros2	https://packages.ros.org

Packages

• leo_simulator - Metapackage which provides all other packages.
• leo_gz_bringup - Launch files for starting simulation and adding Leo Rover inside a simulated world.
• leo_gz_plugins - Gazebo plugins for simulated Leo Rover.
• leo_gz_worlds - Custom simulation worlds.

Install

This branch supports ROS Rolling. See above for other ROS versions.

Binaries

Rolling binaries are available for Gazebo Harmonic. They are hosted at https://packages.ros.org.

1. Make sure you've installed ROS from binary repositories.

2. Install ros-<distro>-leo-simulator package. On Ubuntu with ROS Rolling:

   sudo apt install ros-rolling-leo-simulator
   

From source

1. Make sure you've installed ROS from binary repositories.
2. Setup a colcon workspace:

   mkdir -p ~/ws/src
   

3. Clone this repository into the workspace:

   cd ~/ws/src
   git clone https://github.com/LeoRover/leo_simulator-ros2 -b <distro>
   

4. Install dependencies using rosdep:

   cd ~/ws
   sudo rosdep init
   rosdep update
   rosdep install --from-paths src -y --ignore-src -r
   

5. Build the project and source the workspace:

   colcon build --symlink-install
   source install/setup.bash
   

Run Simulation

Run a simulation world with leo rover:

ros2 launch leo_gz_bringup leo_gz.launch.py

Launch agruments:

• sim_world (default: leo_empty.sdf) - The Gazebo world to use. Refer to the leo_gz_worlds package for available worlds.
• robot_ns (default: "") - Robot namespace

Example:

ros2 launch leo_gz_bringup leo_gz.launch.py sim_world:=marsyard2021.sdf robot_ns:=leo1

Add another leo rover to an already running gazebo world:

ros2 launch leo_gz_bringup spawn_robot.launch.py robot_ns:=leo2