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Package Summary
| Tags | No category tags. |
| Version | 0.1.12 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/robotics-in-concert/concert_services.git |
| VCS Type | git |
| VCS Version | indigo |
| Last Updated | 2015-07-09 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Sets up the gazebo robot manager as a service to assist in spawning/killing robots as concert clients.
Additional Links
Maintainers
- Daniel Stonier
- Piyush Khandelwal
Authors
- Daniel Stonier
- Piyush Khandelwal
Using the Concert Framework with Gazebo (the short short version)
There is some code that is robot-agnostic. All that code is in this package in the GazeboRobotManager Module
GazeboRobotManager
- Creates concert clients for each robot
- Flips necessary information to that robot’s concert client, so that it can pretend to be a real robot.
Unfortunately, a lot of code depends on the robot that you are going to simulate. For each robot, you’ll have to implement a module specific to that robot. An abstract module detailing this API is RobotManager
RobotManager
- Specifies how to spawn the robot in Gazebo
- Specifies how to delete the robot in Gazebo
- Specifies which information needs to be flipped over. If you’re doing teleop, cmd_vel is sufficient. If you want to do full navigation, you’ll have to supply tf,map,sensory information and odometry as well.
- Specifies how each concert client for these simulated robots should be created.
Some other things to consider
- The concert solution and all subsequent concert clients need to be started with /use_sim_time set to true.
- Since all robots are being simulated on a single master, the tf tree needs tobe properly namespaced for each robot. Furthermore, applications run by this spawned concert clients need to use this namespaced tf tree.
Robot configuration Parameter
robots:
- name: guimul
type: kobuki
robot_rapp_whitelist: [rocon_apps, concert_service_gazebo]
location: [0.0, 0.0, 0.0]
- name: gamza
type: turtlebot
robot_rapp_whitelist: [rocon_apps, concert_service_gazebo]
location: [0.0, -2.0, 3.14159265359]
- name: doldol
type: segbot
robot_rapp_whitelist: [rocon_apps, concert_service_gazebo]
location: [0.0, 4.0, 0.0]
types:
- name: kobuki
launch: concert_service_gazebo/kobuki.launch
flip_rule:
pub:
- odom
sub:
- mobile_base/.*
- name: turtlebot
launch: concert_service_gazebo/turtlebot.launch
flip_rule:
pub:
- odom
- camera/.*
sub:
- cmd_vel_mux/.*
- name: segbot
launch: concert_service_gazebo/segbot.launch
flip_rule:
pub:
- odom
- scan_filtered
sub:
- cmd_vel
world_file: concert_service_gazebo/empty_world.world
An example
Take a look at the concert_tutorials/gazebo_concert demo in the rocon_tutorials repository.
- Install Rocon:
wstool init . https://raw.githubusercontent.com/robotics-in-concert/rocon_demos/gazebo_concert/gazebo_solution.rosinstall
- Run the demo:
> roslaunch gazebo_solution concert.launch --screen
> rocon_remocon # Teleop..
> roslaunch office_sim_solution concert.launch --screen
> rocon_remocon # Teleop..
CHANGELOG
Changelog for package concert_service_gazebo
0.1.12 (2015-07-09)
- gazebo is now headless. viewer is now interactions closes #32
- Contributors: Jihoon Lee
0.1.11 (2015-04-27)
0.1.10 (2015-04-06)
0.1.9 (2015-03-23)
0.1.8 (2015-02-27)
- Update link to example in README At 6497f837e14672ebc05319534e1c4f8cbeb1860e of the rocon_demos repository (https://github.com/robotics-in-concert/rocon_demos), gazebo_solution was migrated to the rocon_tutorials repository (https://github.com/robotics-in-concert/rocon_tutorials) and renamed to "gazebo_concert". Compare with commit c92d9e40938f0b3e75979a7cba7dc52ceaf572c1 of rocon_tutorials.
- Contributors: Scott Livingston
0.1.7 (2015-02-09)
0.1.6 (2015-01-05)
- add robot gazebos as runpdend fixes #36
- update install rule for concert service gazebo fixes #34
- remove topic_relay closes #35
- Contributors: Jihoon Lee
0.1.5 (2014-12-05)
- rename gazebo service
- Contributors: Jihoon Lee
0.1.4 (2014-11-21)
0.1.3 (2014-11-21)
0.1.2 (2014-11-21)
- add workflow description closes #29
- rename sim to simulation
- remove unncessary rapps. they are now together with rapps for real robots
- now use turtlebot_rapps. add playground
- sim param passing
- typo in camera flipping
- Merge branch 'indigo' into use_package_export
- topic_relay script has migrated to rocon_python_utils
- leave segbot export as an example
- use package export to load robot types
- disable mux for smoother for now.
- make a map service with scan and robot pose remapping
- add make a map service
- now velocity smoother works in turtlebot. /clock flips by default
- now gazebo uses world_file in service parameter
- update readme
- tf fix
- now teleoping three robots are working
- Merge branch 'indigo' into gazebo_upgrade
- flips working
- flip_rule added
- now all three models are loading
- Contributors: Daniel Stonier, Jihoon Lee
0.1.1 (2014-08-26)
- update for the new rocon launch api, closes #15
- use proper lists for hubs/concerts now roslaunch can handle it.
- updated robot.launch to reflect recent changes to concert_client.launch
- Updating readme to reflect package name changes After a bit of thought, I've renamed the segbot specific packages. I've updated the readme here to reflect that change.
- minor bugfix for the teleop app due to recent refactoring.
- eclipse files and add to metapackage.
- Revert "renamed segbot_rocon to rocon_segbot" This reverts commit 31fa619b08f7798f48bef7f8004a618c3f106c17.
- renamed segbot_rocon to rocon_segbot
- changed to an unordered list
- added a README
- added documentation
- all concerts started through this service should use simulated time
- fixed package.xml and remove dependencies that were not needed
- removed segbot and turtlebot specific components, moved segbot components to segbot specific repository
- added new icon file
- gazebo service now up and running! need to orchestrate teleoperation and navigation
- ready to test with full concert service scenario
- basic version is working, but correct running is order dependent. needs investigation...
- started some initial tests of the gazebo segbot manager, although outside the services framework
- some changes from yesterday for the gazebo service. Need to look at this in more detail tonight
- ready for testing on the concert
- a bit more work towards adding the gazebo service
- separating robot specific components from the gazebo_robot_manager
- separated turtlebot and segbot files. now ready to implement segbot_robot_manager
- some initial testing with launch multiple turtlebots and segbots in gazebo outside the concert framework
- initial commit for concert_service_gazebo
- Contributors: Daniel Stonier, Piyush Khandelwal
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| gateway_msgs | |
| rocon_std_msgs | |
| rocon_console | |
| rocon_gateway_utils | |
| rocon_launch | |
| rocon_python_utils | |
| rospy | |
| roslib | |
| kobuki_gazebo | |
| turtlebot_gazebo |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| concert_services |
Launch files
- robots/turtlebot/turtlebot.launch
-
- name
- loc_x
- loc_y
- loc_z
- loc_roll
- loc_pitch
- loc_yaw
- world_namespace
- base_prefix [default: mobile_base]
- base [default: kobuki]
- stacks [default: hexagons]
- 3d_sensor [default: kinect]
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- robots/kobuki/kobuki.launch
-
- name
- loc_x
- loc_y
- loc_z
- loc_roll
- loc_pitch
- loc_yaw
- world_namespace
- use_full_gazebo_model [default: true]
- base_prefix [default: mobile_base]
- robots/segbot/segbot.launch
-
- name
- loc_x
- loc_y
- loc_z
- loc_roll
- loc_pitch
- loc_yaw
- world_namespace
- robot_name [default: $(arg name)]
- use_full_gazebo_model [default: true]
- urdf_file [default: $(find segbot_description)/robots/segbot_hokuyo.urdf.xacro]
- launch/robot.launch
- Launches the infrastructure running on a robot.
-
- robot_name [default: robot]
- robot_type [default: pc]
- robot_rapp_whitelist [default: []]
- robot_concert_whitelist [default: []]
- services/gazebo_robot_world/gazebo_robot_world.launch
-
- use_sim_time [default: true]
- world [default: gazebo]
- debug [default: false]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged concert_service_gazebo at Robotics Stack Exchange
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