Simulation

The simulator allows the user to test the robot without the need for a physical robot. It has all of the same functionality as the real robot. The TurtleBot 4 can be simulated using Gazebo (previously known as Ignition Gazebo). Unlike Gazebo Classic, Gazebo does not natively support ROS. Instead, it has its own transport stack with a similar topic and node implementation. To communicate with ROS, we can use the ros_ign_bridge. This ROS node translates data from ROS to Ignition, and vice versa.

Installing Ignition Gazebo

Requirements:

• Ubuntu 20.04
• ROS 2 Galactic

or

• Ubuntu 22.04
• ROS 2 Humble

Recommended:

• PC with dedicated GPU

Follow the installation instructions described here.

Launching Ignition Gazebo

For a full tutorial using Gazebo, see the Navigation tutorial

• galactic
• humble

• The ignition.launch.py launch file has several launch configurations that allow the user to customize the simulation.

  Default TurtleBot 4 launch:

  ros2 launch turtlebot4_ignition_bringup ignition.launch.py
  

  Ignition Gazebo will launch and spawn the TurtleBot 4 in the default world along with all of the necessary nodes.

  

  TurtleBot 4 Lite launch:

  ros2 launch turtlebot4_ignition_bringup ignition.launch.py model:=lite
  

  

• The turtlebot4_ignition.launch.py launch file has several launch configurations that allow the user to customize the simulation.

  Default TurtleBot 4 launch:

  ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py
  

  Ignition Gazebo will launch and spawn the TurtleBot 4 in the default world along with all of the necessary nodes.

  

  TurtleBot 4 Lite launch:

  ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py model:=lite