A gazebo simulation environment with ros2 interface for simulating planetary exploration scenarios.
The project currently requires a modified version of ros_gz_bridge and ros_gz_interfaces to allow spawning, moving and deleting entities through a ros service.
Until this is merged to the main ros2 repository, this modification can be found here: [email protected]:UoA-CARES/ros_gz.git
Clone the package into your workspace and build it using
git clone -b ros2 https://github.com/UoA-CARES/ros_gz.git
colcon build --packages-up-to ros_gz_bridge --parallel-workers 2 --allow-overriding ros_gz_bridge ros_gz_interfaces
Number of parallel workers can be adjusted if your PC is more powerful, but building this crashed my computer twice if I try to use more workers, so beware.
The project also expects some robot models: