Quick Start (Gazebo Simulator)

Quick Start (Gazebo Simulator)#

Here we provide a quick recipe to get started with Kompass using Gazebo simulator. The recipe is a single python script to build a point navigation system. Lets first see how we can launch the simulation and run the recipe and then we will go through it step by step.

Install Gazebo#

The most recommended way to install Gazebo is by installing its default version available from the ROS repository when installing ros-gz. To install ros-gz run the following command by replace ${ROS_DISTRO} with your ROS distribution (e.g. humble, rolling, etc).

sudo apt-get install ros-${ROS_DISTRO}-ros-gz

Launch the simulation#

For an easy start with Kompass we created a separate simulation package (kompass_sim) with ready-to-launch examples created to test 2D navigation using few popular robot simulators. In this example we will use a simulation of the Turtlebot3 robot in a pre-built house environment in Gazebo.

Note

All the required simulation dependencies are found in kompass-sim and can be installed with rosdep

  • Start by cloning and building kompass_sim from source, see the instructions here

  • Set the used Turtlebot3 model in Gazebo as an environment variable:

export TURTLEBOT3_MODEL=waffle_pi

  • Now you can launch the simulation by simply running:

ros2 launch kompass_sim gazebo_turtlebot3_house.launch.py

This will start Gazebo simulator, Rviz, the robot localization node and the map server:

Gazebo Tutrlebot3 Simulation

Gazebo Tutrlebot3 Simulation#

Rviz

Gazebo Tutrlebot3 Simulation - Rviz#

Run the recipe#

  • Open a new terminal and launch our recipe:

ros2 run kompass turtlebot3_test

Test sending Goals#

You can now send navigation goals to Kompass by using the clicked_point directly on Rviz.

Now, lets keep going and break the turtlebot3_test recipe step by step 👇

👉 Point Navigation Recipe#

Contents