PMB2 ROS 2 Simulation

This repository contains the launch files to simulate the PMB2/TIAGo Base robot in ROS 2.

Setup

Prerequisites

1. Install ROS 2 Humble by following the installation instructions.

2. Update the apt package index and install needed packages

sudo apt-get update

sudo apt-get install git python3-vcstool python3-rosdep python3-colcon-common-extensions

Disclaimer: In our testing environment, we’ve found out that the simulation is more reliable if we switch to Cyclone DDS. You can do this by installing it with sudo apt install ros-humble-rmw-cyclonedds-cpp and setting the RMW_IMPLEMENTATION environment variable: export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp. More information on working with different DDS implementations here.

We are still looking on the issues when working with Fast RTPS.

Setting up the workspace

Create a workspace and clone all repositories:

mkdir -p ~/pmb2_public_ws/src
cd ~/pmb2_public_ws
vcs import --input https://raw.githubusercontent.com/pal-robotics/pmb2_tutorials/humble-devel/pmb2_public.repos src

Install dependencies using rosdep

sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src

Source the environment and build

source /opt/ros/humble/setup.bash
colcon build --symlink-install

Finally, before running any application you have to source the workspace

source ~/pmb2_public_ws/install/setup.bash

Also you can add it to your .bashrc

Simulation

Standalone

Launch gazebo simulation:

ros2 launch pmb2_gazebo pmb2_gazebo.launch.py is_public_sim:=True

You can launch gazebo simulation using PAL office gazebo world by executing:

ros2 launch pmb2_gazebo pmb2_gazebo.launch.py is_public_sim:=True world_name:=pal_office

To move the robot you can use the following command from another terminal:

ros2 topic pub /mobile_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist '{linear: {x: 1}, angular: {z: 0}}' -r10

The velocities can be modified by changing the values of x and z.

Navigation 2

You can launch PMB2 navigation by executing

ros2 launch pmb2_2dnav pmb2_nav_bringup.launch.py is_public_sim:=True

Then, you can send a goal:

• With rviz2

• By using Navigation 2 API. For further information see Navigation 2 Tutorials

Simulation + Navigation 2

You can also start the simulation and navigation together by using

ros2 launch pmb2_gazebo pmb2_gazebo.launch.py is_public_sim:=True navigation:=True

Then, goals can be sent in the same way.

Simulation + Navigation 2 + SLAM

You can start the SLAM and navigation in simulation by using

ros2 launch pmb2_gazebo pmb2_gazebo.launch.py is_public_sim:=True navigation:=True slam:=True

To use private simulation you can avoid to set is_public_sim argument.

Contributing Guidelines

Thank you for your interest in contributing to this project Whether it’s a bug report, new feature, correction, or additional documentation, we greatly value feedback and contributions from our community.

Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.

Reporting Bugs/Feature Requests

We welcome you to use the GitHub issue tracker to report bugs or suggest features.

When filing an issue, please check existing open issues, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:

• A reproducible test case or series of steps
• The version of our code being used
• Any modifications you’ve made relevant to the bug
• Anything unusual about your environment or deployment

Contributing via Pull Requests

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

1. You are working against the latest source on the master branch.
2. You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
3. You open an issue to discuss any significant work - we would hate for your time to be wasted.

To send us a pull request, please:

1. Fork the repository.
2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
3. Ensure local tests pass. (colcon test)
4. Commit to your fork using clear commit messages.
5. Send a pull request, answering any default questions in the pull request interface.
6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

GitHub provides additional documentation on forking a repository and creating a pull request.

Licensing

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.