Gazebo Setup

With ROS 2 Humble setup, run

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

Workspace Setup

How to Create a Workspace | ROS 2 Foxy Fitzroyautomaticaddison.com

Create workspace folder

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.

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

Resolve dependencies

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

Build the workspace

colcon build

If the above error occurs when building turtlesim, run

pip install empy
pip install lark

and then rebuild

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

The fix method above is found here.

Source the workspace

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

RVIZ Setup

How to Load a URDF File into RViz – ROS 2automaticaddison.com

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.

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

Create some extra folders

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

Build the package

cd ~/Desktop/test_ws/
colcon build

colcon_cd two_wheeled_robot

URDF