NTU_RobotSim

NTU Robot Simulation using ROS 2 Humble and Gazebo Fortress

Building the Project

From your workspace folder

colcon build --symlink-install

Launching Simulations

Launch Maze Simulation

source install/setup.bash
ros2 launch ntu_robotsim maze.launch.py

Then in a Different Terminal, Launch Single Robot Simulation

source install/setup.bash
ros2 launch ntu_robotsim single_robot_sim.launch.py

Then in a Different Terminal, Launch Ground Truth Odometry and Required Robot TFs

source install/setup.bash
ros2 launch odom_to_tf_ros2 odom_to_tf.launch.py

Then in a Different Terminal, Launch OctoMap

source install/setup.bash
ros2 launch octomap_server2 octomap_server_launch.py 

Now you can visualise the OctoMap in Rviz2