This is a ROS 2 package demonstrating how to use Gazebo Harmonic for robotic simulations in the Space ROS environment. This package is meant to serve as a baseline for how to create Gazebo worlds, set them up with the appropriate plugins for sending controls and receiving data, and bridge these topics to ROS. The simulated worlds use realistic gravity and include a submersible robot on Enceladus, the Perseverance rover and Ingenuity helicopter on Mars, a space capsule docking to the ISS, and two rovers on the Moon.
space.mp4
This package was made by David Dorf and Katie Hughes for the NASA Space ROS Sim Summer Sprint Challenge.
- Challenge Name: NASA Space ROS Sim Summer Sprint Challenge
- Team lead Freelancer name:
@katiehughes1 - Submission title: Space ROS Gazebo Demos
This package is built upon the base Space ROS docker image, with a few extra installations to support Gazebo Harmonic.
One time setup: If you don't have Docker, install it with sudo apt install docker.io. You will have to add yourself to the Docker user group with sudo usermod -aG docker $USER, then run newgrp docker to avoid permission errors with Docker daemon. You will also to run xhost +local:docker on your first time to allow Docker to connect to gui-based application such as Gazebo and RViz. You will need to log out and log back in for these changes to take effect on your system.
-
Navigate to
demos/spaceros_gz_demos(the directory this README is in). -
Build the Docker image locally with
./build.sh -
Run the Docker container with
./run.sh -
Once you have a running container, to get another shell, run
./shell.sh
Building the Dockerfile will take care of the necessary colcon build and source install/setup.bash commands, so it is not necessary to run these again inside of the container.
Once you are in the Docker container, you can simply launch the demos with ros2 launch spaceros_gz_demos moon.launch.xml, mars.launch.xml, enceladus.launch.xml, or orbit.launch.xml.
Launch the moon demo with the following command:
ros2 launch spaceros_gz_demos moon.launch.xml
This world contains an X1 rover holding a truss that can be detached, an X2 rover, and a solar panel with one controllable joint on a lunar environment. Images, camera info, laser scans, point clouds, and odometry topics are provided for each robot. Additionally, each rover can be commanded as a differential drive system via a commanded base twist. This world uses the Selenographic Coordinate System (SCS).
Click here for information about the topics available in this demo.
| Topic Name | Topic Type | Description |
|---|---|---|
/X1/camera_front/camera_info |
sensor_msgs/msg/CameraInfo |
Camera info for X1's front camera |
/X1/camera_front/image |
sensor_msgs/msg/Image |
Image on X1's front camera |
/X1/cmd_vel |
geometry_msgs/msg/Twist |
Used to command the X1's base velocity |
/X1/front_laser/scan |
sensor_msgs/msg/LaserScan |
Laser scan from the X1's camera |
/X1/front_laser/scan/points |
sensor_msgs/msg/PointCloud2 |
Point cloud from the X1's camera |
/X1/imu_sensor/imu |
sensor_msgs/msg/Imu |
IMU data from X1 |
/X1/odometry |
nav_msgs/msg/Odometry |
Base odometry topic from X1 |
/X1/odometry_with_covariance |
nav_msgs/msg/Odometry |
Odometry with covariance from X1 |
/X1/truss/attach |
std_msgs/msg/Empty |
Used to attach the truss on the back of the X1 |
/X1/truss/detach |
std_msgs/msg/Empty |
Used to detach the truss on the back of the X1 |
/X2/camera_front/camera_info |
sensor_msgs/msg/CameraInfo |
Camera info for X2's front camera |
/X2/camera_front/image |
sensor_msgs/msg/Image |
Image on X2's front camera |
/X2/cmd_vel |
geometry_msgs/msg/Twist |
Used to command the X2's base velocity |
/X2/front_laser/scan |
sensor_msgs/msg/LaserScan |
Laser scan from the X2's camera |
/X2/front_laser/scan/points |
sensor_msgs/msg/PointCloud2 |
Point cloud from the X2's camera |
/X2/imu_sensor/imu |
sensor_msgs/msg/Imu |
IMU data from X2 |
/X2/odometry |
nav_msgs/msg/Odometry |
Base odometry topic from X2 |
/X2/odometry_with_covariance |
nav_msgs/msg/Odometry |
Odometry with covariance from the X2 |
/solar_panel/joint |
std_msgs/msg/Float64 |
Used to command the joint of the solar panel |
/tf |
tf2_msgs/msg/TFMessage |
TF topic containing odometry from both the X1 and X2 |
Launch the mars demo with the following command:
ros2 launch spaceros_gz_demos moon.launch.xml
This world contains models of the Perseverance rover and the Ingenuity helicopter on a Martian surface. The Ingenuity helicopter contains a rechargable battery that simulates it charging from its solar panel. Ingenuity can be commanded to fly. Perseverance can be commanded as a differential drive system, and its arm joints can also be commanded to move. Odometry, image, depth, and point cloud topics are also published for both robots. Perseverance and Ingenuity models are meant to be as close to their real-life counterparts as possible.
Click here for information about the topics available in this demo.
| Topic Name | Topic Type | Description |
|---|---|---|
/ingenuity/battery_recharge_start |
std_msgs/msg/Bool |
Publish True to start recharging the battery, and False to stop |
/ingenuity/battery_state |
sensor_msgs/msg/BatteryState |
Used to view the current battery charge |
/ingenuity/bottom_blades/thrust |
std_msgs/msg/Float64 |
Command thrust to the bottom set of blades |
/ingenuity/top_blades/thrust |
std_msgs/msg/Float64 |
Command thrust to the top set of blades |
/ingenuity/camera |
sensor_msgs/msg/Image |
Image from Ingenuity's camera |
/ingenuity/camera_info |
sensor_msgs/msg/CameraInfo |
Camera info from Ingenuity's camera |
/ingenuity/depth_camera |
sensor_msgs/msg/Image |
Depth image from Ingenuity's camera |
/ingenuity/depth_camera/points |
sensor_msgs/msg/PointCloud2 |
Point cloud from Ingenuity's camera |
/ingenuity/odometry |
nav_msgs/msg/Odometry |
Odometry from Ingenuity |
/ingenuity/swashplate_1/joint |
std_msgs/msg/Float64 |
Used to tilt Ingenuity's propellers around the x axis (range: -0.3 - 0.3) |
/ingenuity/swashplate_2/joint |
std_msgs/msg/Float64 |
Used to tilt Ingenuity's propellers around the y axis (range: -0.3 - 0.3) |
/perseverance/arm/joint_1 |
std_msgs/msg/Float64 |
Command joint 1 on Perseverance's arm (range: -3.14 - 3.14) |
/perseverance/arm/joint_2 |
std_msgs/msg/Float64 |
Command joint 2 on Perseverance's arm (range: -3.14 - 3.14) |
/perseverance/arm/joint_3 |
std_msgs/msg/Float64 |
Command joint 3 on Perseverance's arm (range: -3.14 - 3.14) |
/perseverance/arm/joint_4 |
std_msgs/msg/Float64 |
Command joint 4 on Perseverance's arm (range: -3.14 - 3.14) |
/perseverance/arm/joint_5 |
std_msgs/msg/Float64 |
Command joint 5 on Perseverance's arm (range: -3.14 - 3.14) |
/perseverance/camera |
sensor_msgs/msg/Image |
Image from Perseverance's camera |
/perseverance/camera_info |
sensor_msgs/msg/CameraInfo |
Camera info from Perseverance's camera |
/perseverance/camera_yaw |
std_msgs/msg/Float64 |
Used to tilt Perseverance's camera around the yaw/azimuth (range: 0 to 6.28) |
/perseverance/cmd_vel |
geometry_msgs/msg/Twist |
Used to command Perseverance's base velocity |
/perseverance/depth_camera |
sensor_msgs/msg/Image |
Depth image from Perseverance's camera |
/perseverance/depth_camera/points |
sensor_msgs/msg/PointCloud2 |
Point cloud from Perseverance's camera |
/perseverance/odometry |
nav_msgs/msg/Odometry |
Odometry from Perseverance |
/tf |
tf2_msgs/msg/TFMessage |
Topic containing odometry transforms for both robots |
Launch the Enceladus demo with the following command:
ros2 launch spaceros_gz_demos moon.launch.xml
This world contains a submarine model in a liquid ocean meant to simulate the surface of Encaledus. The submarine has sonar and odometry topics, and has a buoyancy engine that allows it to rise or sink, in addition to commandable thrusters on its left and right sides.
Click here for information about the topics available in this demo.
| Topic Name | Topic Type | Description |
|---|---|---|
/submarine/buoyancy_engine |
std_msgs/msg/Float64 |
Used to determine the volume of air in the buoyancy engine, which will either lower or raise the submarine (range: -30.0 - 30.0) |
/submarine/left_thrust |
std_msgs/msg/Float64 |
Control the left thruster |
/submarine/right_thrust |
std_msgs/msg/Float64 |
Control the right thruster |
/submarine/odometry |
nav_msgs/msg/Odometry |
Odometry of the submarine |
/submarine/sonar |
sensor_msgs/msg/LaserScan |
Laser scan correspoinding to sonar points |
/submarine/sonar/points |
sensor_msgs/msg/PointCloud2 |
Submarine's point cloud |
Launch the orbiter demo with the following command:
ros2 launch spaceros_gz_demos orbit.launch.xml
This world contains a model of the International Space Station in orbit above the Earth alongside a commandable capsule that it can try to dock at. Laser scan and point cloud data is also provided.
Click here for information about the topics available in this demo.
| Topic Name | Topic Type | Description |
|---|---|---|
/capsule/lidar |
sensor_msgs/msg/LaserScan |
Laser scan from capsule |
/capsule/lidar/points |
sensor_msgs/msg/PointCloud2 |
Point cloud from capsule |
/capsule/thrust/pitch |
std_msgs/msg/Float64 |
Control the pitch of the capsule |
/capsule/thrust/push |
std_msgs/msg/Float64 |
Control the push of the capsule |
/capsule/thrust/yaw |
std_msgs/msg/Float64 |
Control the yaw of the capsule |