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 # leo_simulator-ros2
-Packages to simulate Leo Rover in ROS 2.
-* leo_simulator - Metapackage for this repository.
-* leo_gz_bringup - Launch files for starting simulation and adding Leo Rover inside a simulated world.
-* leo_gz_plugins - Gazebo plugins for simulated Leo Rover
-* leo_gz_worlds - Custom simulation worlds
-  
-### Building the simulation
+Packages for simulating Leo Rover in ROS2 and Gazebo.
 
-1. Setup a [colcon workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html)
-2. Install [ros_gz](https://github.com/gazebosim/ros_gz) package (Gazebo Fortress or Garden)
-3. Clone [leo_common-ros2](https://github.com/LeoRover/leo_common-ros2) repository into the workspace:
+ROS 2 version | Gazebo version | Branch | Binaries hosted at
+-- | -- | -- | --
+Humble | Fortress | [humble](https://github.com/LeoRover/leo_simulator-ros2/tree/humble) | https://packages.ros.org
+Humble | Garden | [humble](https://github.com/LeoRover/leo_simulator-ros2/tree/humble) | only from source
+Iron | Fortress | [iron](https://github.com/LeoRover/leo_simulator-ros2/tree/iron) | https://packages.ros.org
+Iron | Garden | [iron](https://github.com/LeoRover/leo_simulator-ros2/tree/iron) | only from source
+
+## Packages
+* `leo_simulator` - Metapackage which provides all other packages.
+* `leo_gz_bringup` - Launch files for starting simulation and adding Leo Rover inside a simulated world.
+* `leo_gz_plugins` - Gazebo plugins for simulated Leo Rover.
+* `leo_gz_worlds` - Custom simulation worlds.
+
+## Install
+
+This branch supports ROS Humble and Iron. See above for other ROS versions.
+
+### Binaries
+
+Humble and Iron binaries are available for Gazebo Fortress. They are hosted at https://packages.ros.org.
+
+1. Make sure you've [installed ROS](https://docs.ros.org/en/iron/Installation.html) from binary repositories. 
+
+1. Install `ros-<distro>-leo-simulator` package. On Ubuntu with ROS Iron:
    ```
-   cd your_workspace_name/src
-   git clone https://github.com/LeoRover/leo_common-ros2
+   sudo apt install ros-iron-leo-simulator
    ```
-4. Clone this repository into the workspace:
+
+### From source
+
+1. Make sure you've [installed ROS](https://docs.ros.org/en/iron/Installation.html) from binary repositories. 
+1. (skip this step if using Fortress) [Install Gazebo](https://gazebosim.org/docs/garden/install_ubuntu) version you'd like to use from http://packages.osrfoundation.org repositories.
+1. (skip this step if using Fortress) Install [ros_gz](https://github.com/gazebosim/ros_gz) package for ROS and Gazebo version you'd like to use. For example:
    ```
-   git clone https://github.com/LeoRover/leo_simulator-ros2
+   sudo apt install ros-iron-ros-gzgarden
    ```
-5. If using Gazebo Garden (skip this step if using Fortress):
+1. (skip this step if using Fortress) Set the `GZ_VERSION` environment variable to the Gazebo version you'd like to compile against. For example:
    ```
    export GZ_VERSION=garden
    ```
-7. Install dependencies using [rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html#how-do-i-use-the-rosdep-tool):
+1. Setup a [colcon workspace](https://docs.ros.org/en/iron/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html):
+   ```
+   mkdir -p ~/ws/src
+   ```
+1. Clone this repository into the workspace:
+   ```
+   cd ~/ws/src
+   git clone https://github.com/LeoRover/leo_simulator-ros2 -b <distro>
    ```
-   cd ..
+1. Install dependencies using [rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html#how-do-i-use-the-rosdep-tool):
+   ```
+   cd ~/ws
    sudo rosdep init
    rosdep update
-   rosdep install --from-paths src -y --ignore-src
+   rosdep install --from-paths src -y --ignore-src -r
    ```
-8. Build the project and source the workspace:
+1. Build the project and source the workspace:
    ```
    colcon build --symlink-install
    source install/setup.bash
    ```
 ### Run Simulation
 Run a simulation world with leo rover:
-   ```
-   ros2 launch leo_gz_bringup leo_gz.launch.py
-   ```
-  Launch agruments:
-  * sim_world: Path to the Gazebo world file 
-  * robot_ns: Robot namespace
+
+```
+ros2 launch leo_gz_bringup leo_gz.launch.py
+```
+
+Launch agruments:
+* `sim_world` (default: `leo_empty.sdf`) - The Gazebo world to use. Refer to the leo_gz_worlds package for available worlds.
+* `robot_ns` (default: `""`) - Robot namespace
     
-  Example:
-   ```
-   ros2 launch leo_gz_bringup leo_gz.launch.py sim_world:=~/colcon_ws/src/leo_simulator-ros2/leo_gz_worlds/worlds/marsyard2021.sdf robot_ns:=your_namespace
-   ```
+Example:
+
+```
+ros2 launch leo_gz_bringup leo_gz.launch.py sim_world:=marsyard2021.sdf robot_ns:=leo1
+```
+
 Add another leo rover to an already running gazebo world:
-   ```
-   ros2 launch leo_gz_bringup spawn_robot.launch.py robot_ns:=your_namespace
-   ```
+
+```
+ros2 launch leo_gz_bringup spawn_robot.launch.py robot_ns:=leo2
+```