Gazebo Robot Models (ROS2)
This directory contains URDF/SDF robot model files for use with Gazebo and ROS2.
Available Models​
| Model | File | Description | Modules |
|---|---|---|---|
| TurtleBot 4 | turtlebot4/ | Mobile platform with ROS2 support | 09, 10 |
| Humanoid ROS | humanoid_ros/ | ROS2-compatible humanoid | 12-14 |
| OpenManipulator | openmanipulator/ | Low-cost ROS2 arm | 09 |
Directory Structure​
Each robot model follows this structure:
robot_name/
├── urdf/
│ └── robot.urdf.xacro
├── meshes/
│ ├── visual/
│ └── collision/
├── config/
│ └── controllers.yaml
└── launch/
└── spawn.launch.py
ROS2 Integration​
Models are designed for ROS2 Humble and include:
- URDF/xacro descriptions
- Gazebo plugins for sensors and actuators
- Controller configuration for ros2_control
- Launch files for simulation
Docker Usage​
docker run -it --rm \
-e DISPLAY=$DISPLAY \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v $(pwd):/workspace \
physical-ai-textbook:ros2-humble \
ros2 launch robot_name spawn.launch.py