ROS_GZ_RM2025 is an RMU2025 simulation environment based on Gazeboo Fortress.
| RMUL | RMUC | |
|---|---|---|
| Gazebo |  |
 |
| RViz |  |
 |
The robot model is based on the DJI RoboMaster AI Robot 2020 Standard Version.
| Topic | Type | Info |
|---|---|---|
/livox/lidar |
sensor_msgs/msg/PointCloud2 |
Raw point cloud data |
/livox/imu |
sensor_msgs/msg/Imu |
Raw IMU data |
/livox/pointcloud |
sensor_msgs/msg/PointCloud2 |
Processed point cloud data |
├── ros_gz_bringup
│ ├── CMakeLists.txt
│ ├── config
│ │ └── ros_gz_bridge.yaml # Config file: For ros_gz_bridge
│ ├── launch
│ │ ├── default.launch.py # Launch file: Robot and ground plane
│ │ ├── rmuc.launch.py # Launch file: Robot and RMUC scene
│ │ └── rmul.launch.py # Launch file: Robot and RMUL scene
│ ├── package.xml
│ └── plugins
│ ├── chassis_controller.cc # Plugin: Controlling robot movement through ros2 topic
│ ├── odom_publisher.cc # Plugin: Publishing the true value of the robot's odometry
│ └── pointcloud_converter.cc # Plugin: Processing point cloud data
└── ros_gz_resource
├── CMakeLists.txt
├── hooks
│ ├── ros_gz_resource.dsv.in
│ └── ros_gz_resource.sh.in
├── models
│ ├── 2025_RMUC_MAP # Model: RMUC Scene
│ ├── 2025_RMUL_MAP # Model: RMUL Scene
│ ├── DJI_Robot # Model: DJI Robot 2020
│ └── Sensors
│ ├── camera # Model: Daheng industrial camera
│ └── mid360 # Model: Livox Mid-360 LiDAR
├── package.xml
├── plugins
│ ├── MecanumDrive2.cc # Plugin: Controlling robot movement
│ └── MecanumDrive2.hh
└── worlds
├── Default.sdf # World file: Robot and ground plane
├── RMUC.sdf # World file: Robot and RMUC scene
└── RMUL.sdf # World file: Robot and RMUL scene
Clone the repository and colcon build:
mkdir -p ~/sim_ws/src
cd ~/sim_ws/src
git clone https://github.com/TARS-Go-Nav/ros_gz_rm2025.git
cd ~/sim_ws
colcon build --symlink-installFor RMUL:
. install/setup.bash
ros2 launch ros_gz_bringup rmul.launch.pyFor RMUC:
. install/setup.bash
ros2 launch ros_gz_bringup rmuc.launch.pyIf you want to control the movement of the robot via the keyboard, you can:
ros2 run teleop_twist_keyboard teleop_twist_keyboardSMBU-PolarBear-Robotics-Team/rmu_gazebo_simulator