A Very Simple Robot Simulator ROS2 version.

Dependencies

• Operating system: Ubuntu 22.04
• Communication Software: ROS2 Humble (desktop)
• GUI Software: Pygame

Install and Compile

mkdir -p ~/<your_ws>/src && cd ~/<your_ws>/src
git clone https://github.com/MonkyDCristian/very_simple_robot_simulator2.git
cd ~/<your_ws> && colcon build
cp -r ~/<your_ws>/src/very_simple_robot_simulator2/launch ~/<your_ws>/install/very_simple_robot_simulator2/share/very_simple_robot_simulator2

Include package in your ROS2 environment

echo "source ~/<your_ws>/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

Operation Modes

• Idle mode: non interactive interface
• Add Wall mode: press 'w' key to draw a wall on the map with the mouse pointer.
• Delete Wall mode: press 'd' key to delete a wall.
• Set Robot Pose mode: press 'p' key to change the robot pose. Drag and drop the robot to change the position. Click outside the robot to change its orientation.

Architecture

Launch

ros2 launch very_simple_robot_simulator2 run_all.launch.py