Igt One

Installation

• Install Ignition-Edifice or greater.

• Build ros_ign packages for foxy from source as the binaries on apt are only supported for Ignition-Citadel as of now so some features might not work with the package from apt.

• Create a workspace

mkdir -p colcon_ws/src && cd colcon_ws/src

• Clone the repo
• Build the workspace & source the setup

colcon build --symlink-install

source install/setup.bash

Launch

Ign-Gazebo

ros2 launch igt_ignition igt_ignition.launch.py

Launch with ros_ign_bridge for teleop

ros2 launch igt_ignition igt_ignition.launch.py with_bridge:=true

Make sure you UNPAUSE physics by clicking “play” button in bottom left corner of ignition

and then open another terminal and run

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Publish velocities using ign topic

ign topic -t "/model/igt_one/cmd_vel" -m ignition.msgs.Twist -p "linear: {x: 2.0}, angular: {z: 0.0}"

Subscribe to topics using ign topic

ign topic -t "/igt_one/laserscan" -e

ign topic -t "/model/igt_one/odometry" -e

Navigation

Mapping with Slam Toolbox

• Install slam_toolbox from apt for ros2 foxy using:

   sudo apt install ros-foxy-slam-toolbox
   

• Launch the simulation in ignition gazebo with ros_ign_bridge using:

   ros2 launch igt_ignition igt_ignition.launch.py with_bridge:=true
   

• Make sure you UNPAUSE physics by clicking “play” button in bottom left corner of ignition

• Open another terminal and launch slam_toolbox for mapping and rviz2 using online_sync_launch.py from igt_nav package:

   ros2 launch igt_nav online_sync_launch.py
   

• Open another terminal and run the ros2 teleop_twist_keyboard node using:

   ros2 run teleop_twist_keyboard teleop_twist_keyboard
   

• Use teleop to control the bot and map the world (as shown in the gif below). Save the map using:

   ros2 run nav2_map_server map_saver_cli -f name_of_map_file
   

Navigation2

• Install navstack2 for ros foxy.
• Launch the simulation in ignition gazebo using:

   ros2 launch igt_ignition igt_ignition.launch.py with_bridge:=true
   

• Make sure you UNPAUSE physics by clicking “play” button in bottom left corner of ignition

• Launch navigation2 using navigation2.launch.py launch file:

   ros2 launch igt_nav navigation2.launch.py
   

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