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AntBot

5.3 Simulation Environment Setup

AntBot can be operated and tested in Ignition Gazebo (Fortress) without physical hardware.

Simulation Pipeline

Prerequisites

Section titled “Prerequisites”
Terminal window
sudo apt install ros-humble-ros-gz ros-humble-ign-ros2-control \
  ros-humble-xacro ros-humble-robot-state-publisher

Build

Section titled “Build”
Terminal window
cd ~/ros2_ws
colcon build --symlink-install --packages-up-to antbot_gazebo
source install/setup.bash

Run

Section titled “Run”

  1. Start Gazebo simulation

    Terminal window
    # Terminal 1
    ros2 launch antbot_gazebo gazebo.launch.py

  2. Control the robot with keyboard

    Terminal window
    # Terminal 2
    ros2 run antbot_teleop teleop_keyboard

Change World

Section titled “Change World”

The default world is empty. Use the world argument to select a different one:

Terminal window
# Run by name (resolved via worlds.yaml)
ros2 launch antbot_gazebo gazebo.launch.py world:=depot


# Run by full SDF path
ros2 launch antbot_gazebo gazebo.launch.py world:=/path/to/world.sdf

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