gazebo-ignition-ros (Exclusively for ROS1)

The aim of this repo is to create ros ignition simulation environment that uses sdf file and then create a bridge for several topics of ignition to ros. This repository creates a simple environment with few ignition-fuel models with husky robot mounted with RGBD and segmentation camera

gazebo-ignition installation

Note that in this repository ROS Noetic and gazebo ignition Fortress are used in combination

1. Follow this link to install ROS Noetic ROS Noetic installation
2. Follow this link to install Gazebo Fortress Gazebo Fortress installation
3. Follow this link to build ros-bridge for Fortress else follow instruction from noetic branch of the following repository ros-bridge
4. Additional details of the ros-bridge noetic can be found here

Create a catkin ws

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin build

clone repository inside src directory

cd src
git clone https://github.com/suryapilla/gazebo-ignition-ros.git
cd ~/catkin_ws/
catkin build
source devel/setup.bash
source src/gazebo-ignition-ros/semantic_segmentation_husky/scripts/set_env_variables.sh

Note: It is important to source the ros path run the bash file as shown in above last command

Run the simulation

roslaunch semantic_segmentation_husky seg_husky.launch