This package provides a simulation environment using ROS 2 and Gazebo.

Prerequisites

• ROS 2 Humble
• Gazebo simulator

Installation

1. Clone this repository into your ROS 2 workspace (src folder).
2. Install dependencies:

   rosdep install --from-paths src --ignore-src -r -y

3. Build the workspace:

   colcon build

4. Source the workspace:

   source install/setup.zsh
   # or
   source install/setup.bash

Running the Simulation

To launch the simulation environment, use:

ros2 launch fbot_simulation gpsr.launch.py

This should start Gazebo with the configured world and models.

Directory Structure

• launch/: Launch files for simulation and scenarios
• models/: Gazebo models
• urdf/: Robot description files
• config/: Configuration files
• worlds/: Gazebo world files

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For more details, check the source files and configuration in each directory.