This is to exercise the urdf and ROS2 frame in virtual environment
I tested them in Ubuntu20.04 and ROS2 foxy.
- lgsvl_simulator : https://github.com/lgsvl/simulator/releases/tag/2020.06
- lgsvl_msg : https://github.com/endland/lgsvl_msg
- ros2_lgsvl_bridge : https://github.com/endland/ros2_lgsvl_bridge
download lgsvl_simulator from upper link pull the repositories to your workspace
colcon build --symlink-install --packages-select lgsvl_msg
colcon build --symlink-install --packages-select ros2_lgsvl_bridge
colcon build --symlink-install --packages-select vehicle_model
sourc install/setup.bash
lgsvl_bridge [--port 9090] [--log D]
./simulator
ros2 launch vehicle_model vehicle_visualization.launch.py
You need to run the below command to view camera image at Rviz2
ros2 run image_transport republish compressed --ros-args --remap in/compressed:=/simulator/sensor/camera/center/compressed --remap out:=/image_raw