Gazebo and ROS tutorial
Creating an Autonomous Robot
Introduction and explanation
What software are we using and why
All of these instructions have been tested using the current version of Ubuntu: Jammy Jellyfish.We are going to use two packages: Gazebo for the physics based Simulator and ROS (Robot Operating System) for the control system. There are many releases of each of these, and only some combinations are mutually compatible. Also, since we are focusing on a stable development platform, we will use the Long Term Support (LTS) versions that are current at the time we are posting this. As of 20Mar2024, this means we will use Gazebo Fortress (release 6) which is supported until 2025.
One quirk: the current LTS version of Gazebo only seems to work with the LTS version of Ubuntu
How will the demonstration proceed.We will go through 6 steps: 1) Install Gazebo Fortress and confirm that it is correct. 2) Examine an empty world 3) Build a simple robot and test it using keyboard controls. 4) Build a 'world' for our robot to explore. 5) Install ROS (and its components) and confirm the installation. 6) Write control software in ROS to make the robot autonomous.
This post covers Step 6
How will the demonstration proceed.We will go through 6 steps: 1) Install Gazebo Fortress and confirm that it is correct. 2) Examine an empty world 3) Build a simple robot and test it using keyboard controls. 4) Build a 'world' for our robot to explore. 5) Install ROS (and its components) and confirm the installation. 6) Write control software in ROS to make the robot autonomous.
This post covers Step 6
Create an Autonomous Robot
What we did
This has been a long one, but we got a lot done:
We have:
Next step -
Next step -
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