h10's gazebo sim
Because of abundance of documentation, the sim uses gazebo garden. To download gazebo garden:
- https://gazebosim.org/docs/garden/install/
- Even if it's EOL, since we use an older version of ROS2, the compatibility is better
For integration between ROS2 and Gazebo:
- sudo apt-get install ros-humble-ros-gzgarden
prepare 3 terminals to run the sim
- cd h10_sim
- cd h10_sim
- colcon build
- source install/setup_custom.bash
new terminal
- ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=ros_gz_bridge.yaml
new terminal
- colcon build
- source install/setup_custom.bash
- ros2 run controls_movement moveLeft or
- ros2 run controls_movement IMU
For the controls people, The File to have the movement test launch had to be changed so that it would be compatible with the sim. Go to the pool_test_2 file and you can see the previous version which was commented above, below it is the version that works.
You can see which values to change to adjust thrust and rotation by the comments.