asl-tb3-utils

ASL Turtlebot 3 ROS2 utility packages

Installation Guide

1. Install ROS2 Humble on Ubuntu 22.04 following this guide.
   • These, and the following, installation instructions require opening a terminal, and copy-pasting commands into that terminal. In Ubuntu, use CTRL+ALT+T to open the default terminal. Remember to copy all commands exactly and in order, or you may encounter errors!
   • On the Install ROS Packages step, choose the ROS-Base Install (sudo apt install ros-humble-ros-base).
   • Make sure to also install development tools (sudo apt install ros-dev-tools).
2. Install Gazebo Garden (ignore the comment lines starting with #).

   # Install dependencies
   sudo apt-get update
   sudo apt-get install lsb-release wget gnupg
   
   # Setup Gazebo keys and sources
   sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
   
   # Install Gazebo
   sudo apt-get update
   sudo apt-get install gz-garden

3. Initialize rosdep (can skip this step if done earlier)

   sudo rosdep init

4. Set up a ROS2 workspace by running the following scripts (ignore the comment lines starting with #)

   # install apt depedencies
   sudo apt install git
   
   # create the turtlebot workspace
   mkdir -p ~/tb_ws/src
   
   # clone the sources
   cd ~/tb_ws/src
   git clone -b humble https://github.com/gazebosim/ros_gz.git
   git clone https://github.com/StanfordASL/asl-tb3-driver.git
   git clone https://github.com/StanfordASL/asl-tb3-utils.git
   
   # install dependencies
   source /opt/ros/humble/setup.bash  # use setup.zsh if using zsh
   rosdep update && rosdep install --from-paths ~/tb_ws/src -r -i -y
   
   # build the code (might take a few minutes)
   export GZ_VERSION=garden
   cd ~/tb_ws && colcon build --symlink-install
   
   # include the setup script (replace bash with zsh if using zsh)
   echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
   echo "source \$HOME/tb_ws/install/local_setup.bash" >> ~/.bashrc
   echo "alias update_tb_ws=\$HOME/tb_ws/src/asl-tb3-utils/scripts/update.sh" >> ~/.bashrc
   source ~/.bashrc

5. Try starting ROS and Gazebo with a simulated TurtleBot to verify that everything is installed correctly. Use this command:

   ros2 launch asl_tb3_sim root.launch.py

   To close the simulator and ROS session after testing your installation enter CTRL+C in the terminal session where you entered the command above.

Environment Variables

• DISABLE_GUI -- Set to 1 to disable Gazebo GUI. This can speed up simulation if running inside VM or limited compute hardware.
• INSIDE_VM -- Set to 1 to use software OpenGL. OpenGL implementation in VMWare and WSL does not work very well with Gazebo. Set this env variable if you see flickering or blank screen in Gazebo.

Development Guide

Pull Latest and Re-Build Local Workspace

Run update_tb_ws in your terminal.

Make Contribution to This Repository

1. Create a new branch.

2. Commit and push changes to the new branch.

3. Create a pull request and ask someone to review it.

4. Merge after an approval review.

F.A.Q.

1. When I run Gazebo a bunch of errors print that say [ruby $(which gz) sim-2] [Err] [SDFFeatures.cc:843] The geometry element of collision [left_hand] couldn't be created, should I be worried?

   These are a known issue with Gazebo, and are safe to ignore.

2. If Gazebo cannot find model uri, e.g. the terminal throws the following error

   ... Msg: Unable to find uri[model://asl_tb3_sim/models/turtlebot3_world]
   

   You need to rebuild tb_ws and make sure to include the environment variable GZ_VERSION=garden. To do a clean rebuild, run the following command in a terminal.

   cd ~/tb_ws && rm -r build install log
   GZ_VERSION=garden colcon build --symlink-install