Overview

Simulation-based environments and launch assets for Robotnik platforms on ROS 2.

Supported Robots

Robot	Robot Model	Kinematics	Photos
RB-WATCHER	rbwatcher	skid-steering
RB-SUMMIT	rbsummit	skid-steering
RB-VOGUI	rbvogui, rbvogui_plus	omni-directional, ackermann
RB-VOGUI-XL	rbvogui_xl	omni-directional, ackermann
RB-FIQUS	rbfiqus	omni-directional, ackermann
RB-KAIROS	rbkairos, rbkairos_plus	omni-directional
RB-ROBOUT	rbrobout, rbrobout_plus	omni-directional
RB-1*	rb1	differential
RB-THERON	rbtheron, rbtheron_plus	differential
RB-CAR	rbcar	ackermann

Note: The RB-1 robot is discontinued and may not be supported in future releases.

Available Simulators

Simulator	Package	Instructions
	robotnik_gazebo_ignition	README

Quick start

Installation

Before launching the simulation, ensure that the installation steps for one of the available simulators listed above have been completed.

Docker

If you want to run the integrated simulation in Docker, the current workflow is documented in docker/README.md.

That guide covers:

• running the published image from Docker Hub
• building an image that copies only this repository from the local machine and pulls any extra required repositories from dependencies/repos/robotnik_simulation.jazzy.repos
• editing env/robot.env to choose robot, world, GUI and RViz options
• opening a second terminal with docker exec to interact with the running simulation from inside the runtime container

Kubernetes

The simulation stack can also be deployed on a Kubernetes cluster, replicating the same services as the Docker Compose setup (Gazebo, localization, navigation, MoveIt2/RViz).

One-command launch:

cd k8s/
./run-simulation.sh

The script bootstraps the cluster (if needed), configures kubectl, grants X11 access, creates ConfigMaps and deploys all four services in the correct startup order:

simulation  ──ready──▶  localization  ──ready──▶  navigation  ──ready──▶  manipulation

First run or after a system reboot with lost cluster state:

./run-simulation.sh --reset

Graceful stop:

./stop-simulation.sh

For full details, configuration options and troubleshooting see k8s/README.md.

Bringup

Launch complete simulation:

ros2 launch  robotnik_simulation_bringup bringup_complete.launch.py robot_model:=rbsummit

Additional Configuration

For a complete description of available parameters and files, refer to the robotnik_simulation_bringup README.

Related projects

Projects built upon this repository:

• 🕹️ robotnik_o3de: O3DE-based simulation.
• 🐞 robotnik_webots: Webots based simulation.
• 🟢 robotnik_isaac: Isaac Sim based simulation.
• 🎮 robotnik_unity: Unity based simulation.

Contributing

Contributions are welcome.

1. Fork the repository
2. Create a feature branch: git checkout -b feature/jazzy/AmazingFeature
3. Commit: git commit -m "Add AmazingFeature"
4. Push: git push origin feature/AmazingFeature
5. Open a PR and describe your changes

Special thanks to all contributors!

License

Distributed under BSD-3. See LICENSE.