SimulationGazeboCamera

ROS2 simulation of a camera using gazebo and rviz2

ROS2 Gazebo Simulation with a camera sensor

This repository contains code for a ROS2 Gazebo simulation using the Humble Hawksbill version on Ubuntu 22.04 Jammy Jellyfish. The simulation utilizes Gazebo as the simulator and rviz2 as the visualizer.

Acknowledgment

This project was inspired by and based on the work of this repo [https://github.com/joshnewans/urdf_example]

Prerequisites

ROS2 Humble Hawksbill
Ubuntu 22.04 Jammy Jellyfish
Gazebo
xacro

Getting the code on your machine

Create a workspace inside home (~)

mkdir camera_simulation_ws

Go inside the ws and create a src folder

cd camera_simulation_ws
git clone https://github.com/DanaWentBananas/SimulationGazeboCamera.git

Change the folder name from SimulationGazeboCamera to src
Go back to the ws

cd ..

cd path_to/map_ws

build it

colcon build

source !!

sudo vim ~/.bashrc

inside the file add these lines:

source /opt/ros/humble/setup.bash
source ~/camera_simulation_ws/install/setup.bash
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

Running the Simulation

To run the simulation, follow the steps below:

Launch the launch file:

ros2 launch launch_pkg demo_robot_gazebo.launch.py