Here is a step-by-step tutorial simulating Snoopy home robot in 3D VR using the Gazebo ROS2 simulator. I’m using here a Windows PC running ROS2 in a Docker container. You can use a Linux PC running Docker as well.

If you are using a Windows PC, make sure to set up your Windows PC folliwing these instructions here.

If you are using a Linux PC, please install Docker for your Linux distro.

The (simple) self-driving code is here.

Here are the steps in the tutorial:

• Launch Docker for Windows on your local Windows PC
• Launch VcXsrv on your local Windows PC
• Pull the Kaia.ai developer Docker image to your local PC
• Launch the Kaia.ai developer Docker image on your local PC
• Launch the Kaia.ai Living Room world and Snoopy robot in Gazebo ROS2 simulator
• Launch Rviz2 ROS2 viewer to view Snoopy’s camera feed and laser scan data
• Launch teleop and drive Snoopy manually
• Drive Snoopy around the living room
• Make Snoopy hide under the table
• Make Snoopy play with the red ball
• Stop teleop and launch self-driving
• Snoopy drives around the living room automatically

Tutorial: Step-by-step Snoopy 3D VR Gazebo simulation