OpenMowerROS2

Appearance

Simulator ​

Overview ​

OpenMowerROS2 incorporates a Gazebo simulator and ros_gz integration.

TIP

If you are not familiar with Gazebo, please refer to Gazebo tutorials.

WARNING

This project uses Gazebo Fortress. Formerly known as Ignition Fortress.

Robot simulation

Getting started ​

Run the following command to start the simulator:

bash
ros2 launch openmower sim.launch.py
ros2 launch openmower sim.launch.py

If run inside devcontainer, Gazebo GUI will be displayed in a VNC web client. You can access it by opening http://localhost:12345 in your browser.

TIP

Learn more about VNC client.

It's possible to run the simulator with GUI on external host machine. I haven't done it myself since GUI is unstable on MacOS.

Current state ​

World definition ​

xml
<?xml version="1.0" ?>
<sdf version="1.8">
  <world name="empty">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="libignition-gazebo-physics-system.so"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="libignition-gazebo-user-commands-system.so"
      name="ignition::gazebo::systems::UserCommands">
    </plugin>
    <plugin
      filename="libignition-gazebo-scene-broadcaster-system.so"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <plugin
            filename="libignition-gazebo-navsat-system"
            name="ignition::gazebo::systems::NavSat">
    </plugin>
    <plugin filename="libignition-gazebo-imu-system.so"
            name="ignition::gazebo::systems::Imu">
    </plugin>

    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <world_frame_orientation>ENU</world_frame_orientation>
      <latitude_deg>-22.9</latitude_deg>
      <longitude_deg>-43.2</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>

    <!--light-->
    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <include>
      <uri>
      https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coke
      </uri>
    </include>

    <include>
      <uri>
        https://fuel.gazebosim.org/1.0/hexarotor/models/grasspatch
      </uri>
    </include>
  </world>
</sdf>
<?xml version="1.0" ?>
<sdf version="1.8">
  <world name="empty">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="libignition-gazebo-physics-system.so"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="libignition-gazebo-user-commands-system.so"
      name="ignition::gazebo::systems::UserCommands">
    </plugin>
    <plugin
      filename="libignition-gazebo-scene-broadcaster-system.so"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <plugin
            filename="libignition-gazebo-navsat-system"
            name="ignition::gazebo::systems::NavSat">
    </plugin>
    <plugin filename="libignition-gazebo-imu-system.so"
            name="ignition::gazebo::systems::Imu">
    </plugin>

    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <world_frame_orientation>ENU</world_frame_orientation>
      <latitude_deg>-22.9</latitude_deg>
      <longitude_deg>-43.2</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>

    <!--light-->
    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <include>
      <uri>
      https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coke
      </uri>
    </include>

    <include>
      <uri>
        https://fuel.gazebosim.org/1.0/hexarotor/models/grasspatch
      </uri>
    </include>
  </world>
</sdf>