GazeboTools

Cylcone Robosub's Simulation environment

Setup

To get started:

1. Secure a ROS2 and Gazebo compatible environment (ideally running Ubuntu 22.04) - a native install, WSL2, or in some other way
2. Install Gazebo Harmonic by following the Gazebo Docs
3. Clone this repository to some location and navigate into it
4. Install some supporting packages
   • xacro - used for preprocessing the XML file format used by Gazebo
     • For example, you can install ros-humble-xacro or ros-iron-xacro by following the ROS2 installation guides for either ROS Humble or ROS Iron up until the Install ROS2 packages section
     • Then run sudo apt install ros-humble-xacro or sudo apt install ros-iron-xacro, depending on which distro you used
     • Note: Once we finalize the ROS distro we'll use, this should be more concrete
5. Run source setup.sh
6. Run sh run_sim.sh to start the simulation