CLEARPATH Turtlebot4 User Manual page 70

Simulation
The simulator allows the user to test the robot without the need for a physical robot. It has all of
the same functionality as the real robot. The TurtleBot 4 can be simulated using
Gazebo. Unlike Gazebo, Ignition Gazebo does not natively support ROS. Instead, it has its own
transport stack with a similar topic and node implementation. To communicate with ROS, we can
use the ros_ign_bridge. This ROS node translates data from ROS to Ignition, and vice versa.
Installing Ignition Gazebo
Requirements:
● Ubuntu 20.04
● ROS2 Galactic
Recommended:
● PC with dedicated GPU
Follow the installation instructions described here.
Launching Ignition Gazebo
The ignition.launch.py
customize the simulation.
Default TurtleBot 4 launch:
ros2 launch turtlebot4_ignition_bringup ignition.launch.py
Ignition Gazebo will launch and spawn the TurtleBot 4 in the default world along with all of the
necessary nodes.
launch file has several launch configurations
Ignition
that allow the user to