This week I completed the following tasks:

  • Looked into and understood the backend and working of Autoparking exercise
  • Looked for ackermann steering car models in Gazebo Harmonic
  • Started working on migration of autoparking exercise to Gazebo Harmonic
  • Forked and cloned RoboticsInfrastructure repository
  • Set up developer environment

Summary

This week, I focused on understanding the backend and overall workflow of the Autoparking exercise. I'm currently working on migrating this exercise to Gazebo Harmonic, using a Prius Ackermann steering model.

To begin the migration, I updated the necessary model URIs and working on updating and integrating the required Gazebo plugins. This integration is being handled using the ros_gz bridge, which connects ROS 2 (Humble) with Gazebo Harmonic for plugin communication and sensor data exchange.

gazebosim

I also forked and cloned the RoboticsInfrastructure repository and created a dedicated branch for my work. The development environment has been set up successfully, and I’ve verified that the frontend for the Autoparking exercise launches as expected.