TM Gazebo models

This repository contains TM Cobot models and SDF files for Gazebo Sim robotics simulator.

§ Prerequisites

The Gazebo Sim robotics simulator Installation or Installing Gazebo with ROS. The installed version is now called "Gazebo" or the previous name "Ignition Gazebo".

§ Usage: insert the TM SDF model in Gazebo GUI Simulator

To use the SDF model, please refer to the Gazebo Tutorials.
You'll need to add the models directory to the GZ_SIM_RESOURCE_PATH environment variable. For more details on finding resources, refer to the gz-sim API. Once you've completed the Gazebo setup, Gazebo should be able to find the models.

Example: Assume that the gazebo directory where you plan to place the model is ros2_ws/src/tm_gazebo

1. Type to your workspace directory.
   cd ~/ros2_ws/src/tm_gazebo
   
2. Clone the TM gazebo models from the git repository into the current directory.
   git clone https://github.com/TechmanRobotInc/tm_gazebo_models.git
   
3. After the download is done, rename the download folder tm_gazebo_models(or tm_gazebo_models-master) to models by typing
   mv tm_gazebo_models models
   
4. To add the models directory.
   export GZ_SIM_RESOURCE_PATH=/home/user/ros2_ws/src/tm_gazebo/models/
   

Note

Change the directory path above to your username & home folder name to instead of user.

Then, open the Gazebo Simulator and add the Resource Spawner Plugin, the model should now show up under your local resources.