Step by Step Guide to Launching Your Robot in This World

First make sure you've installed Ignition Gazebo Fortress:

Installing Ignition Gazebo Fortress

First install some necessary tools:

sudo apt-get update
sudo apt-get install lsb-release gnupg

Then install Ignition Fortress:

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install ignition-fortress

All libraries should be ready to use and the Ignition Gazebo app ready to be executed.

Uninstalling Binary Install

If you need to uninstall Ignition or switch to a source-based install once you have already installed the library from binaries, run the following command:

sudo apt remove ignition-fortress && sudo apt autoremove

If You Are Using WSL2

Run the following command on Windows PowerShell as an Administrator:

wsl --version

If not WSL 2, run the following command:

wsl --upgrade

To use OpenGL Rendering, enter this command in the WSL2 terminal:

export LIBGL_ALWAYS_SOFTWARE=1

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More coming soon...

More details on how to spawn your robot with this world.

To View the World Alone

Run the following command:

ros2 launch gamefield launch_ign.launch.py

To Spawn the Robot in the Game Field at the Start Position

1. Copy the folder:

   ./gamefield/sdf
   

   into your robot's workspace in the folder:

   ./src/<your_package>/worlds
   

2. Ensure that in the gamefield.sdf file (in ./src/<your_package>/worlds) this line:

   <uri>model://gamefield/sdf/My_GF.dae</uri>

   and all of its instances change to the relative path of your My_GF.dae, i.e.:

   <uri>model://src/<your_package>/worlds/My_GF.dae</uri>

3. In your launch_sim.launch.py, assuming it is Gazebo Ignition Fortress compatible, change the name of the world to gamefield.sdf, i.e.:

   default_world = os.path.join(get_package_share_directory(package_name), 'worlds', 'gamefield.sdf')
   world = LaunchConfiguration('world')
   world_arg = DeclareLaunchArgument(
       'world', default_value=default_world, description='Path to the world SDF to load'
   )

4. Build your workspace:

   colcon build --symlink-install

5. Source your workspace:

   source install/setup.bash

6. Then to launch the gamefield with the world in it, run:

   ros2 launch <your_package> launch_sim.launch.py

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Heads up: Ensure that your Gazebo clock is always running when trying to spawn the robot by clicking the play/pause button. A certain order is followed such that Gazebo should start with the world, then the robot spawns, then joint_broad starts, followed by diff_cont. Implement appropriate timer delays for this sequence to be followed rigidly.

Note: These instructions assume that the migration from Gazebo Classic to Ignition Fortress was done, making the robot's URDF compatible or spawnable.