Simulations
This repository contains robot simulations for TrickFire Robotics. It provides two complementary environments: Gazebo Harmonic (with ROS 2 Jazzy) for simulating robot subsystems and joint control, and Project Chrono for high-fidelity terrain and wheel-soil physics. Both are driven by a unified Python sim CLI that handles building and launching.
Clone the repository
git clone https://github.com/TrickfireRobotics/simulations.git
cd simulations
Choose your workflow
| Environment | Platforms | Pros & Cons | Requirements |
|---|---|---|---|
| Native (pixi) | Linux, macOS, WSL2 | Performant, Gazebo sim only | pixi |
| Dev Container | Any OS with Docker | Consistent, everything will work | Docker & Devcontainers |
| Docker + Nvidia GPU | Linux with Nvidia GPU | Docker but GPU-accelerated | Linux + Docker + Nvidia GPU |