Hello everyone,
I have successfully ported Clearpath Robotics’s open-source simulator clearpath_simulator into Gazebo Harmonic LTS.
Key changes include adding support for Xbox One controllers, support for custom robot.yaml names and automatic Twist message conversion to TwistStamped required by the newer builds of ros2_controllers and Gazebo. The simulator has been tested to work in Ubuntu 22.04 (source build). Presently, only A200 Husky is supported. Version 0.2 will add RGB-D sensor and build testing in Ubuntu 24.04.
To accommodate a number of changes made to almost all the original dependent packages, I have opted to host my derived work separately here: GitHub - Mechazo11/clearpath_simulator_harmonic: A port of Clearpath Simulator, compatible with ROS 2 Jazzy and Gazebo Harmonic
A big shout-out to Clearpath Robotics team for making the original simulator publicly available. I hope this work proves valuable to the community. If you have any questions, concerns or would like to contribute please don’t hesitate to reaching out to me.
With best regards,
Azmyin Md. Kamal