I have made several attempts over the last few years to get my robot to work under simulation in Gazebo, and I finally have Raven working. Well, it works under Gazebo, but I will still need to work out how to make it work in real life again, but that should be easier. For now, I had to remove the T265 in simulation as it sat in the frame tree as the provider of the odom topic and transformation, which is now done by Gazebo, so I will probably need to make some separate URDFs to be used for simulation vs non simulation.
Thanks go out to Dillo for providing gazebo simulations for the OAK-D cameras I use. I started with his work at:
| tenacity_rover/tenacity_description/urdf at 0945115d723c82f1d72bb4542ab3540b5a3fad10 · jetdillo/tenacity_rovergithub.com |
And made changes for it to work under Humble and with more than one camera on a robot. I can provide feedback back to Steve if he wants to consider my changes, which are not very big.
Thanks also to the folks at Articulated Robotics, who have produced some of the best videos I’ve seen on using Ros 2, and I’ve seen an awful lot of videos on Ros 2. This video helped me to finally get the small details right for simulation:
And here is a picture of my robot in a small world, showing in Rviz2 and in Gazebo: