This repository contains a number of Gazebo world definitions that can be used for testing the Zinger in a virtual world. It is assumed that you have at least the following ROS packages:
- zinger_description - Contains the geometric description of the Zinger robot for ROS to work with.
- zinger_bringup - Contains a launch file that will create all the ROS nodes required for Zinger to function
The following world files are available in order of complexity.
An empty world with no obstacles. Zinger will be placed at the origin. Started by giving the following command:
ros2 launch zinger_ignition ignition.launch.py rviz:=true world:=empty_world