QCar2 Simulation in Gazebo Harmonic

This repository contains the simulation for the QCar2 using ROS 2 and Gazebo Harmonic.

Prerequisites

Ensure you have ROS 2 (Jazzy/Humble) and Gazebo Harmonic installed.

Setup Instructions

1. Build the entire workspace

colcon build --symlink-install

2. Source the setup

source install/setup.bash

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Running the Simulation

Graphics Optimization (Optional)

If you are using an Nvidia GPU, run these exports to improve rendering performance:

export __NV_PRIME_RENDER_OFFLOAD=1
export __GLX_VENDOR_LIBRARY_NAME=nvidia

Terminal 1: Launch Gazebo

Tell Gazebo where to find the resources and launch the lab world:

export GZ_SIM_RESOURCE_PATH=~/rosbot_ws/install/qcar2/share/
gz sim -r ~/rosbot_ws/src/husarion_gz_worlds/worlds/lab_track.sdf

Terminal 2: Spawn the QCar2

In a new terminal, source the workspace and create the entity:

source ~/rosbot_ws/install/setup.bash

ros2 run ros_gz_sim create -world lab_track \
  -file ~/rosbot_ws/install/qcar2/share/qcar2/urdf/QCar2.urdf \
  -name qcar2 -x 0.0 -y 0.0 -z 0.3