Simulation-based environments and launch assets for Robotnik platforms on ROS 2.
| Robot | Robot Model | Kinematics | Photos |
|---|---|---|---|
| RB-WATCHER | rbwatcher | skid-steering |
 |
| RB-SUMMIT | rbsummit | skid-steering |
 |
| RB-VOGUI | rbvogui, rbvogui_plus | omni-directional, ackermann |
 |
| RB-VOGUI-XL | rbvogui_xl | omni-directional, ackermann |
 |
| RB-FIQUS | rbfiqus | omni-directional, ackermann |
 |
| RB-KAIROS | rbkairos, rbkairos_plus | omni-directional |
 |
| RB-ROBOUT | rbrobout, rbrobout_plus | omni-directional |
 |
| RB-1* | rb1 | differential |
 |
| RB-THERON | rbtheron, rbtheron_plus | differential |
 |
Note: The RB-1 robot is discontinued and may not be supported in future releases.
| Simulator | Package | Instructions |
|---|---|---|
 |
robotnik_gazebo_ignition |
README |
Before launching the simulation, ensure that the installation steps for one of the available simulators listed above have been completed.
If you want to run the integrated simulation in Docker, the current workflow is documented in docker/README.md.
That guide covers:
- running the published image from Docker Hub
- building an image that copies only this repository from the local machine and pulls any extra required repositories from
dependencies/repos/robotnik_simulation.jazzy.repos - editing
env/robot.envto choose robot, world, GUI and RViz options - opening a second terminal with
docker execto interact with the running simulation from inside the runtime container
Launch complete simulation:
ros2 launch robotnik_simulation_bringup bringup_complete.launch.py robot_model:=rbsummit
For a complete description of available parameters and files, refer to the robotnik_simulation_bringup README.
Projects built upon this repository:
- 🕹️
robotnik_o3de: O3DE-based simulation. - 🐞
robotnik_webots: Webots based simulation. - 🟢
robotnik_isaac: Isaac Sim based simulation. - 🎮
robotnik_unity: Unity based simulation.
Contributions are welcome.
- Fork the repository
- Create a feature branch:
git checkout -b feature/jazzy/AmazingFeature - Commit:
git commit -m "Add AmazingFeature" - Push:
git push origin feature/AmazingFeature - Open a PR and describe your changes
Special thanks to all contributors!
Distributed under BSD-3. See LICENSE.