Starting with ROS 2 on Modern Gazebo¶
With Classic Gazebo reaching End-of-Life in January 2025, it is essential to migrate all the Neobotix robots to the modern Gazebo.
As of September 2024, only Neobotix ROX-Argo packages are available in modern Gazebo. The rest of the ROX platforms and the MP platforms (neo_simulation2) are work in progress and will be released soon.
ROX¶
Setup Environment Hooks¶
In order for Gazebo to open the models for the robots and the objects in the environment. It is essential to define the gz model path for loading these objects. For example, if there is workspace called rox_ws, then the path should be defined as follows:
export GZ_SIM_RESOURCE_PATH=~/rox_ws/src/rox:~/rox_ws/src/neo_gz_worlds/models/
Attention
- Here we define the path for both the robot models and as well as the object models.
- Please update the path according to your workspace.
Launch¶
Launching the simulation is fairly easy
ros2 launch rox_bringup bringup_sim_launch.py
Launch Arguments
Attention
Available on Rolling and Jazzy distribtions
'imu_enable':
Enable IMU - Options: True/False
(default: 'False')
'd435_enable':
Enable Realsense - Options: True/False
(default: 'False')
'arm_type':
Arm used in the robot: currently only the following Universal Robotics arms are supported (ur5, ur10, ur5e, ur10e)
(default: '')
'frame_type':
Frame type - Options: short/long
(default: 'short')
'rox_type':
Robot type - Options: argo/diff/trike/meca
(default: 'argo')
Robot can be moved using the keyboard as shown in the Image below:
MP Series¶
Work in progress !!!
