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3.1 Gazebo simulation environment setup

Gazebo Simulation Environment Setup​

Overview​

Is module mein hum Gazebo simulation environment ko setup karna seekhenge.
Gazebo robotics researchers ke liye ek powerful 3D simulation environment hai jisme robots ko physics-based world mein test kiya jata hai.

Workflow Diagram​

flowchart TD
    A[Install ROS 2] --> B[Install Gazebo]
    B --> C[Create Workspace]
    C --> D[Add Simulation Packages]
    D --> E[Launch Gazebo World]
    E --> F[Spawn Robot Model]
    F --> G[Test Sensors & Physics]

Step-by-Step: Gazebo Setup for ROS 2

Step 1: Install Gazebo​

ROS 2 (Humble/Foxy) ke sath Gazebo automatically install ho jata hai,
lekin manual installation ke liye:

sudo apt update
sudo apt install gazebo

ROS 2 integration:

sudo apt install ros-${ROS_DISTRO}-gazebo-ros-pkgs

Step 2: Create a ROS 2 Workspace​

mkdir -p ~/gazebo_ws/src
cd ~/gazebo_ws
colcon build
source install/setup.bash

Step 3: Test Gazebo Installation​

gazebo

A window open hogi jisme default empty world load hota hai.

Step 4: Launch Gazebo with ROS 2​

Simple launch:

ros2 launch gazebo_ros gazebo.launch.py

Yeh ROS 2 bridge ke sath Gazebo ko start karta hai.

Step 5: Spawn a Robot in Gazebo​

Example (URDF file spawn):

ros2 run gazebo_ros spawn_entity.py -file myrobot.urdf -entity my_robot

Step 6: Add Custom World Files​

Create folder:

my_worlds/ └── test_world.world

Launch:

gazebo test_world.world

Self-Assignment Tasks

  1. Gazebo ko install karke empty world launch karein.\
  2. Apna workspace create karein aur ROS-Gazebo integration test karein.\
  3. Ek simple URDF robot spawn karein.\
  4. Custom .world file create karein aur load karein.\
  5. Robot ke sensor plugins (camera/LiDAR) ko test karein.

MCQs (Multiple Choice Questions)

1. Gazebo kis purpose ke liye use hota hai?
a) Video editing
b) Game development
c) 3D robot simulation
d) Audio processing

2. ROS 2 ke sath Gazebo integration package ka naam kya hai?
a) gazebo-connect
b) ros2-gazebo-interface
c) gazebo_ros_pkgs
d) gazebo_robotics

3. Gazebo ko launch karne ka command:
a) start_gazebo()
b) gazebo
c) run_gazebo
d) ros2 start sim

4. Robot spawn karne ke liye ROS 2 script:
a) add_robot.py
b) spawn_model
c) spawn_entity.py
d) robot_create.py

5. Gazebo world file ka extension:
a) .txt
b) .world
c) .sim
d) .sdf

Correct Answers

  1. c\
  2. c\
  3. b\
  4. c\
  5. b