by In this Robot Operating System 2 (ROS2) Jazzy tutorial, we explain how to develop a Gazebo model of a 2D mobile robot and how to write a C++ ROS2 program for controlling the simulation. We explain how to write the complete ROS2 package and all supporting files from scratch.
More precisely, in this tutorial, we explain
- How to install Gazebo Harmonic in ROS2 Jazzy.
- How to write a ROS2 package from scratch.
- How to model a mobile robot and its dynamics in Gazebo.
- How to connect ROS2 and Gazebo topics, and how to send information between Gazebo and ROS2, and vice-versa.
- How to write a C++ ROS2 code for controlling the robot motion in Gazebo.
YouTube tutorial is given below.
