BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

1. ROS Noetic + Gazebo Classic 11 (branch ros1)
2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
3. ROS2 Humble + Gazebo Fortress (branch ros2)
4. ROS2 Humble + Gazebo Harmonic (branch ros2)
5. ROS2 Humble + Isaac Sim (branch ros2)

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

Changelog for package bcr_bot

1.0.2 (2024-04-02)

• Setting Gazebo resource paths through launch files
• Modified launch files to dynamically spawn bcr_bot