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 Ignition Gazebo. Unlike Gazebo, Ignition 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
  • ROS2 Galactic

Recommended:

  • PC with dedicated GPU

Follow the installation instructions described here.

Launching Ignition Gazebo

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.

Ignition Gazebo
TurtleBot 4 in Ignition Gazebo

TurtleBot 4 Lite launch:

ros2 launch turtlebot4_ignition_bringup ignition.launch.py model:=lite
Ignition Gazebo Lite
TurtleBot 4 Lite in Ignition Gazebo