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-get install ros-jazzy-ros-gz

Installing Clearpath Simulator

Run the following commands in your terminal:

sudo apt-get update
sudo apt-get 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.