Installing Clearpath Simulator

tip

It is highly recommended to install the simulator on a computer with a dedicated GPU for optimal performance.

Computer Setup

Follow the Offboard Computer setup guide.

Installing Gazebo Fortress

Run the following commands in your terminal:

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ignition-fortress

Installing Clearpath Simulator

Run the following commands in your terminal:

sudo apt-get update
sudo apt-get install ros-humble-clearpath-simulator

Source install

1. Create a workspace on the robot's computer

mkdir ~/clearpath_ws/src -p

2. Import dependencies

source /opt/ros/humble/setup.bash
sudo apt install python3-vcstool
cd ~/clearpath_ws
wget https://raw.githubusercontent.com/clearpathrobotics/clearpath_simulator/main/dependencies.repos
vcs import src < dependencies.repos
rosdep install -r --from-paths src -i -y

3. Build packages

colcon build --symlink-install

note

Make sure to add the workspace to your robot.yaml file.