# Gazebo Setup

With ROS 2 Humble setup, run

```bash
sudo apt install ros-humble-gazebo-ros-pkgs
```

## Workspace Setup

{% embed url="<https://automaticaddison.com/how-to-create-a-workspace-ros-2-foxy-fitzroy/>" %}

Create workspace folder

```bash
mkdir -p ~/Desktop/test_ws/src
cd ~/Desktop/test_ws/src/
```

Add pre-existing packages into this folder. We will add the ros\_tutorials repository to our workspace. It contains the following packages: roscpp\_tutorials, rospy\_tutorials, ros\_tutorials, and turtlesim.

```bash
git clone https://github.com/ros/ros_tutorials.git -b humble-devel
```

Resolve dependencies

```bash
cd ~/Desktop/test_ws/
rosdep install -i --from-path src --rosdistro humble -y
```

### Build the workspace

```bash
colcon build
```

<figure><img src="https://1287130752-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FvVJ0h2a4qMIhB1I8GdV8%2Fuploads%2Fgit-blob-35a2c05f7a06676349ba0220d62c9684229eb5a2%2Fimage.png?alt=media" alt=""><figcaption></figcaption></figure>

If the above error occurs when building turtlesim, run

```bash
pip install empy
pip install lark
```

and then rebuild

```bash
rm -rf ~/Desktop/test_ws/build/
rm -rf ~/Desktop/test_ws/install/
colcon build
```

> *The fix method above is found* [*here*](https://stackoverflow.com/questions/72752937/ros2-importerror-cannot-import-name-generate-py-from-rosidl-generator-py/74159022#74159022)*.*

<figure><img src="https://1287130752-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FvVJ0h2a4qMIhB1I8GdV8%2Fuploads%2Fgit-blob-2e083974f2e0dbd4e4baa0352f3db6ac64840650%2Fimage.png?alt=media" alt=""><figcaption></figcaption></figure>

### Source the workspace

```bash
source ~/Desktop/test_ws/install/setup.bash
```

## RVIZ Setup

{% embed url="<https://automaticaddison.com/how-to-load-a-urdf-file-into-rviz-ros-2/>" %}

```bash
sudo apt install ros-humble-joint-state-publisher-gui
sudo apt install ros-humble-xacro
```

### Create a ROS 2 Package

Move to the src (source) folder of your workspace and create the package using the following command.

```bash
cd ~/Desktop/test_ws/src/
ros2 pkg create --build-type ament_cmake two_wheeled_robot
```

Create some extra folders

```bash
cd ~/Desktop/test_ws/src/two_wheeled_robot/
mkdir config launch maps meshes models params rviz urdf worlds
```

Build the package

```bash
cd ~/Desktop/test_ws/
colcon build
```

```bash
colcon_cd two_wheeled_robot
```

## URDF