Week 6

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GSOC Coding Week 6 Progress Report

Week 6: Updating the Gazebo World for ROS 2

This week’s focus was on transitioning the Gazebo simulation world from the previous ROS 1 exercise into the new ROS 2 environment using the IFRA-Cranfield framework. This marks a key step toward enabling a full perception-to-action pipeline in simulation.

What I Did This Week

  • Updated Gazebo world assets:
    • Migrated the environment setup from the older ROS 1 project
    • Adapted models and configuration to be compatible with ROS 2 and ros2_control
  • Verified compatibility with IFRA launch structure:
    • Integrated the updated world into the IFRA-Cranfield simulation launch files
    • Ensured the robot spawns correctly in the new environment

This lays the groundwork for integrating perception and interactive tasks with physical context.

Gazebo Migration

Next Steps

For Week 7, I’ll begin closing the loop between simulation and perception:

  • Add camera sensor and configure topic publication in the updated world
  • Spawn objects dynamically in the Gazebo world
  • Testing the previous algorithm and debugging

📍 Posted from Barcelona, Spain
🧠 Project: Migration and Enhancement of Machine Vision Exercise to ROS2 + MoveIt2