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Version: ROS 2 Jazzy

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 Harmonic​

note

See Gazebo's installation instructions for more information on installing and uninstalling Gazebo Harmonic.

ROS provides a "vendor" package to install the default ROS/Gazebo pairing (e.g. ROS 2 Jazzy with Gazebo Harmonic). This package is normally installed as a dependency of the Clearpath simulator (see below), but you can install it manually by running this command in your terminal:

sudo apt install ros-jazzy-ros-gz

Installing Clearpath Simulator​

Run the following commands in your terminal:

sudo apt update
sudo apt install ros-jazzy-clearpath-simulator

Source install​

1. Create a workspace on the robot's computer

mkdir ~/clearpath_ws/src -p

2. Import dependencies

source /opt/ros/jazzy/setup.bash
sudo apt install python3-vcstool
cd ~/clearpath_ws
wget https://raw.githubusercontent.com/clearpathrobotics/clearpath_simulator/jazzy/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.

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