Simulation for the Leo Rover (Gazebo)

• Leo Gazebo: launchers, worlds

• Leo Gazebo Plugins: plugin for the gazebo model.

  • mimic_joint_plugin: to couple front and rear wheel on each side
  • differential_plugin: to emulate passive boogie

• Mars World (leo_gazebo_worlds): Mars World from MIT LEO Competitions

• Leo Rover Description: fork of ROS2 package, to work with Gazebo ROS2

ros2 launch leo_gazebo leo_rover.launch.py

ros2 launch leo_gazebo leo_rover_on_mars.launch.py

Depend on https://github.com/FlaSpaceInst/ezrassor_sim_gazebo ros2 launch leo_gazebo leo_rover_on_moon.launch.py

copy leo_msgs (ros1)

cd ..

ros_source

catkin_make_isolated --install

copy leo_msgs (ros2)

cd ..

ros2_source

colcon build

git clone -b foxy https://github.com/ros2/ros1_bridge.git

cd ..

If needed, re-install them after the compilation!!!!!

sudo apt remove ros-foxy-controller-manager-msgs

source /opt/ros/noetic/setup.bash

source /opt/ros/foxy/setup.bash

source ../ros1_msgs/install_isolated/setup.bash

source ../ros2_msgs/install/setup.bash

colcon build --cmake-force-configure

source install/setup.bash

ros2 run ros1_bridge dynamic_bridge --print-pairs

ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics