Add ROS 2 Jazzy pixi TurtleBot3 diff-drive tuning tutorial

README.md

@@ -94,4 +94,8 @@ Below is a list of all tutorials available in this repository:
 - 📝 Load and analyze data in Jupyter Notebooks using Foxglove Data Management
 - 🔗 [Related Blog Post](https://foxglove.dev/blog/analyze-your-robotics-data-with-jupyter-notebooks)
 
+## Ros
+### [ROS 2 Jazzy TurtleBot3 Diff-Drive Tuning with Pixi](ros/ros2_jazzy_turtlebot3_diffdrive_pixi/README.md)
+- 📝 Headless Gazebo simulation, MCAP recording, and live wheel radius/separation modifier tuning with Foxglove
+
 Join the Foxglove [Discord](https://discord.gg/UEuytgVkks) and follow [our blog](https://foxglove.dev/blog) for more ideas on how to integrate Foxglove into your robotics development workflows.

ros/ros2_jazzy_turtlebot3_diffdrive_pixi/.gitignore

@@ -0,0 +1,4 @@
+bags/
+external/
+**/__pycache__/
+*.pyc

ros/ros2_jazzy_turtlebot3_diffdrive_pixi/README.md

@@ -0,0 +1,157 @@
+---
+title: "ROS 2 Jazzy TurtleBot3 Diff-Drive Tuning with Pixi"
+short_description: "Headless Gazebo simulation, MCAP recording, and live wheel radius/separation modifier tuning with Foxglove"
+---
+
+# ROS 2 Jazzy + Pixi: TurtleBot3 diff-drive tuning workflow
+
+This tutorial creates an end-to-end, **pixi-only** workflow for:
+
+1. Launching a **headless Gazebo** simulation with TurtleBot3 (Burger) on ROS 2 Jazzy
+2. Recording an MCAP bag from the simulation
+3. Replaying that bag with [`foxglove_mcap_player`](https://github.com/botsandus/foxglove_mcap_player)
+4. Tuning diff-drive wheel calibration live from Foxglove by updating ROS parameters
+
+## What this tutorial contains
+
+- `pixi.toml`: ROS 2 Jazzy environment and repeatable tasks
+- `launch/headless_turtlebot3_gazebo.launch.py`: Gazebo server-only launch (no GUI)
+- `scripts/diff_drive_calibrator.py`: runtime diff-drive wheel modifier calibrator node
+- `config/diff_drive_calibrator_sim.yaml`: calibration params for simulation (`/cmd_vel_raw` -> `/cmd_vel`)
+- `config/diff_drive_calibrator_replay.yaml`: calibration params for replay (`/cmd_vel` -> `/cmd_vel_tuned`)
+- `scripts/setup_foxglove_mcap_player.sh`: clones/builds `foxglove_mcap_player`
+- `scripts/run_mcap_player.sh`: runs player against a chosen MCAP file
+
+## 1) Enter the tutorial directory and install dependencies
+
+```bash
+cd ros/ros2_jazzy_turtlebot3_diffdrive_pixi
+pixi install
+```
+
+The pixi project uses RoboStack Jazzy packages from:
+
+- `https://prefix.dev/robostack-jazzy`
+- `https://prefix.dev/conda-forge`
+
+## 2) Start headless TurtleBot3 Gazebo sim
+
+Terminal A:
+
+```bash
+pixi run sim
+```
+
+This launches Gazebo in server mode (`-s`) with no GUI client.
+
+## 3) Start the diff-drive wheel calibration node
+
+Terminal B:
+
+```bash
+pixi run calibrate-sim
+```
+
+The calibrator subscribes to `/cmd_vel_raw` and publishes compensated commands to `/cmd_vel`.
+Tuneable parameters are namespaced under `/diff_drive_calibrator`.
+
+The main live tuning parameters are:
+
+- `wheel_radius_multiplier`
+- `wheel_separation_multiplier`
+
+These map to the diff-drive calibration concept directly:
+- if wheel radius is effectively too small/large, tune `wheel_radius_multiplier`
+- if turning radius is off, tune `wheel_separation_multiplier`
+
+## 4) Drive the robot and record MCAP
+
+Terminal C (drive):
+
+```bash
+pixi run teleop
+```
+
+Or publish a continuous circle command:
+
+```bash
+pixi run drive-circle
+```
+
+Terminal D (record):
+
+```bash
+pixi run bag-record
+```
+
+This creates `bags/tb3_<timestamp>/` with MCAP storage and captures:
+
+- `/clock`
+- `/cmd_vel_raw`
+- `/cmd_vel`
+- `/odom`
+- `/tf`, `/tf_static`
+- `/joint_states`
+- `/scan`
+
+Stop recording with `Ctrl+C`.
+
+## 5) Start Foxglove bridge (optional live graph introspection)
+
+Terminal E:
+
+```bash
+pixi run foxglove-bridge
+```
+
+Open Foxglove and connect to `ws://<machine-ip>:8765`.
+
+## 6) Build and run foxglove_mcap_player for replay
+
+First-time setup (clones and builds the player):
+
+```bash
+pixi run player-setup
+```
+
+Replay a bag with Foxglove websocket server + ROS republish:
+
+```bash
+MCAP_FILE="$(ls -d bags/tb3_* | tail -n 1)/tb3_0.mcap" pixi run mcap-play
+```
+
+You can set `PLAYER_HOST` and `PLAYER_PORT` if needed:
+
+```bash
+PLAYER_HOST=0.0.0.0 PLAYER_PORT=8766 MCAP_FILE=... pixi run mcap-play
+```
+
+## 7) Tune diff-drive wheel modifiers during replay in Foxglove
+
+Terminal F:
+
+```bash
+pixi run calibrate-replay
+```
+
+Replay mode subscribes to `/cmd_vel` and publishes compensated commands to `/cmd_vel_tuned`.
+This keeps original and calibrated command streams separate for comparison.
+
+In Foxglove, add panels for:
+
+- `/cmd_vel` (original)
+- `/cmd_vel_tuned` (after calibration)
+- `/odom` and `/tf`
+
+Adjust ROS parameters on `/diff_drive_calibrator` live:
+
+- `wheel_radius_multiplier`
+- `wheel_separation_multiplier`
+- `cmd_timeout`
+
+## Notes
+
+- Default robot model is `burger` via pixi activation env (`TURTLEBOT3_MODEL`).
+- If your bag contains a different file name than `tb3_0.mcap`, point `MCAP_FILE` to the actual path.
+- `foxglove_mcap_player` is not currently packaged in RoboStack Jazzy, so this tutorial builds it from source in `external/`.
+- TurtleBot3 Jazzy in Gazebo uses `gz::sim::systems::DiffDrive` with static SDF wheel params. The calibrator node keeps tuning live by exposing ROS parameters and pre-compensating `cmd_vel` in real time.

ros/ros2_jazzy_turtlebot3_diffdrive_pixi/config/diff_drive_calibrator_replay.yaml

@@ -0,0 +1,9 @@
+diff_drive_calibrator:
+  ros__parameters:
+    use_sim_time: true
+    input_topic: "/cmd_vel"
+    output_topic: "/cmd_vel_tuned"
+    wheel_radius_multiplier: 1.0
+    wheel_separation_multiplier: 1.0
+    cmd_timeout: 0.5
+    publish_rate_hz: 30.0

ros/ros2_jazzy_turtlebot3_diffdrive_pixi/config/diff_drive_calibrator_sim.yaml

@@ -0,0 +1,9 @@
+diff_drive_calibrator:
+  ros__parameters:
+    use_sim_time: true
+    input_topic: "/cmd_vel_raw"
+    output_topic: "/cmd_vel"
+    wheel_radius_multiplier: 1.0
+    wheel_separation_multiplier: 1.0
+    cmd_timeout: 0.5
+    publish_rate_hz: 30.0

ros/ros2_jazzy_turtlebot3_diffdrive_pixi/launch/headless_turtlebot3_gazebo.launch.py

@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import AppendEnvironmentVariable, DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description() -> LaunchDescription:
+    turtlebot3_gazebo_dir = get_package_share_directory("turtlebot3_gazebo")
+    ros_gz_sim_dir = get_package_share_directory("ros_gz_sim")
+    launch_dir = os.path.join(turtlebot3_gazebo_dir, "launch")
+
+    default_world = os.path.join(turtlebot3_gazebo_dir, "worlds", "empty_world.world")
+
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    x_pose = LaunchConfiguration("x_pose")
+    y_pose = LaunchConfiguration("y_pose")
+    world = LaunchConfiguration("world")
+
+    declare_use_sim_time = DeclareLaunchArgument("use_sim_time", default_value="true")
+    declare_x_pose = DeclareLaunchArgument("x_pose", default_value="0.0")
+    declare_y_pose = DeclareLaunchArgument("y_pose", default_value="0.0")
+    declare_world = DeclareLaunchArgument("world", default_value=default_world)
+
+    set_gz_resource_path = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH",
+        os.path.join(turtlebot3_gazebo_dir, "models"),
+    )
+
+    gz_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim_dir, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v2 ", world],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    robot_state_publisher = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_dir, "robot_state_publisher.launch.py")
+        ),
+        launch_arguments={"use_sim_time": use_sim_time}.items(),
+    )
+
+    spawn_turtlebot = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_dir, "spawn_turtlebot3.launch.py")
+        ),
+        launch_arguments={
+            "x_pose": x_pose,
+            "y_pose": y_pose,
+        }.items(),
+    )
+
+    return LaunchDescription(
+        [
+            declare_use_sim_time,
+            declare_x_pose,
+            declare_y_pose,
+            declare_world,
+            set_gz_resource_path,
+            gz_server,
+            robot_state_publisher,
+            spawn_turtlebot,
+        ]
+    )

ros/ros2_jazzy_turtlebot3_diffdrive_pixi/pixi.toml

@@ -0,0 +1,36 @@
+[workspace]
+name = "ros2-jazzy-turtlebot3-diffdrive-pixi"
+channels = ["https://prefix.dev/robostack-jazzy", "https://prefix.dev/conda-forge"]
+platforms = ["linux-64"]
+
+[activation.env]
+TURTLEBOT3_MODEL = "burger"
+
+[dependencies]
+python = ">=3.12,<3.13"
+git = "*"
+colcon-common-extensions = "*"
+lz4-c = "*"
+zstd = "*"
+ros-jazzy-ros-base = "*"
+ros-jazzy-rclpy = "*"
+ros-jazzy-nav-msgs = "*"
+ros-jazzy-geometry-msgs = "*"
+ros-jazzy-tf2-ros = "*"
+ros-jazzy-ros-gz-sim = "*"
+ros-jazzy-rosbag2-storage-mcap = "*"
+ros-jazzy-foxglove-bridge = "*"
+ros-jazzy-teleop-twist-keyboard = "*"
+ros-jazzy-turtlebot3-gazebo = "*"
+ros-jazzy-turtlebot3-simulations = "*"
+
+[tasks]
+sim = "bash -lc 'ros2 launch \"$PIXI_PROJECT_ROOT/launch/headless_turtlebot3_gazebo.launch.py\"'"
+calibrate-sim = "python ./scripts/diff_drive_calibrator.py --ros-args --params-file ./config/diff_drive_calibrator_sim.yaml"
+calibrate-replay = "python ./scripts/diff_drive_calibrator.py --ros-args --params-file ./config/diff_drive_calibrator_replay.yaml"
+teleop = "ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/cmd_vel_raw"
+drive-circle = "ros2 topic pub --rate 10 /cmd_vel_raw geometry_msgs/msg/Twist '{linear: {x: 0.2}, angular: {z: 0.4}}'"
+bag-record = "bash -lc 'mkdir -p bags && ros2 bag record -s mcap -o bags/tb3_$(date +%Y%m%d_%H%M%S) /clock /cmd_vel_raw /cmd_vel /odom /tf /tf_static /joint_states /scan'"
+foxglove-bridge = "ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765 address:=0.0.0.0"
+player-setup = "bash ./scripts/setup_foxglove_mcap_player.sh"
+mcap-play = { cmd = "bash -lc ': \"${MCAP_FILE:?Set MCAP_FILE to a .mcap path}\"; bash ./scripts/run_mcap_player.sh \"$MCAP_FILE\" \"${PLAYER_PORT:-8766}\" \"${PLAYER_HOST:-127.0.0.1}\"'", depends-on = ["player-setup"] }