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Module 2: Hands-On Lab

🎯 Lab Objectives​

Build a complete simulation environment with:

  • Gazebo world with obstacles
  • Humanoid robot with sensors
  • Sensor data processing
  • Autonomous navigation

🛠️ Lab Setup​

# Install Gazebo
sudo apt install ros-humble-gazebo-ros-pkgs

# Create simulation package
ros2 pkg create --build-type ament_python humanoid_simulation

📝 Exercise: Complete Simulation Environment​

Step 1: Create World File​

Create worlds/humanoid_world.sdf:

<?xml version="1.0"?>
<sdf version="1.6">
  <world name="humanoid_world">
    <include><uri>model://sun</uri></include>
    <include><uri>model://ground_plane</uri></include>
    
    <!-- Add obstacles -->
    <model name="obstacle1">
      <pose>3 0 0.5 0 0 0</pose>
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry><box><size>1 1 1</size></box></geometry>
        </collision>
        <visual name="visual">
          <geometry><box><size>1 1 1</size></box></geometry>
          <material>
            <ambient>0.8 0.2 0.2 1</ambient>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>

Step 2: Launch Simulation​

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        IncludeLaunchDescription(
            'path/to/gazebo.launch.py',
            launch_arguments={'world': 'humanoid_world.sdf'}.items()
        ),
        Node(
            package='humanoid_simulation',
            executable='sensor_processor',
            name='sensor_processor'
        ),
    ])

🎯 Expected Results​

  • ✅ Gazebo world loads with obstacles
  • ✅ Robot spawns with all sensors active
  • ✅ Sensor data published to ROS 2 topics
  • ✅ Robot navigates autonomously

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