gazebo_sfm_tb3_ros2

About

SFM (Social Force Model) and turtlebot3 on gazebo using ros2

Demo

gazebo_sfm_turtlebot3.mp4

Environment

• Ubuntu 20.04
• ROS Foxy
• ROS Galactic (from GitHub Actions)

Dependencies

• lightsfm
• turtlebot3_simulation
  • turtlebot3_gazebo
  • turtlebot3_fake

lightsfm

$ git clone https://github.com/robotics-upo/lightsfm.git
$ cd lightsfm
$ make
$ sudo make install

turtlebot3_simulation

$ cd {your_ros2_ws}/src
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd {your_ros2_ws}/
$ colcon build
$ source install/setup.bash

Usage

git clone and colcon build

$ cd {your_ros2_ws}/src
$ git clone https://github.com/koichirokato/gazebo_sfm_tb3_ros2.git
$ cd {your_ros2_ws}/
$ colcon build
$ source install/setup.bash

ROS launch

# You have to set value of TURTLEBOT3_MODEL before ros2 launch command.
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch gazebo_sfm_tb3_ros2 turtlebot3_world_dynamic.launch.py

Reference

• Turtlebot3 sfm gazebo environment (ROS1): turtlebot3_simulations_jp_custom
• Turtlebot3 gazebo environment (ROS2) : turtlebot3_simulations