iRobot® Create® 3 Simulator

This is a ROS 2 simulation stack for the iRobot® Create® 3 robot.

Have a look at the Create® 3 documentation for more details on the ROS 2 interfaces exposed by the robot.

Prerequisites

Required dependencies:

1. ROS 2 galactic
2. Gazebo
3. ROS 2 dev tools:
   • colcon-common-extensions
   • rosdep: Used to install dependencies when building from sources
   • vcs: Automates cloning of git repositories declared on a YAML file.

Build

• Create a workspace if you don't already have one:

mkdir -p ~/create3_ws/src

• Clone this repository into the src directory from above.

• Use vcs to clone additional dependencies into the workspace:

vcs import ~/create3_ws/src/ < ~/create3_ws/src/create3_sim/dependencies.repos

• Navigate to the workspace and install ROS 2 dependencies with:

cd ~/create3_ws
rosdep install --from-path src -yi

• Build the workspace with:

colcon build --symlink-install
source install/local_setup.bash

Examples

Empty world

Create® 3 can be spawned in an empty world in Gazebo and monitored through RViz with

ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py

AWS house

Create® 3 can be spawned in the AWS small house in Gazebo and monitored through RViz. This requires that the package aws_robomaker_small_house_world is available.

If you need it, you can build aws_robomaker_small_house_world in your ROS 2 workspace by doing:

vcs import ~/create3_ws/src/ < ~/create3_ws/src/create3_sim/demo.repos
cd ~/create3_ws
colcon build --symlink-install
source install/local_setup.bash

Then you can run:

ros2 launch irobot_create_gazebo_bringup create3_gazebo_aws_small.launch.py