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Package Summary
| Tags | No category tags. |
| Version | 0.0.4 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_demos.git |
| VCS Type | git |
| VCS Version | 0.0.4 |
| Last Updated | 2017-03-15 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- iori
Authors
gazebo_drive_simulator
Introduction
Provides simple vehicle task simulation environment in gazebo.
Depend
This program needs drcsim_hydro. See and install as http://gazebosim.org/tutorials?tut=drcsim_install&cat=drcsim
Setup
First, build gazebo_drive_simulator package.
$ catkin build gazebo_drive_simulator
You have to make world file for staro in gazebo to use staro in drive simulation environment.
rosrun hrpsys_gazebo_tutorials convert_drc_world.sh
Before launch gazebo, you should setup environmental valiables. I recommend you to write them in your .bashrc.
$ source `rospack find hrpsys_gazebo_general`/setup.sh
$ export VRC_CHEATS_ENABLED=1
You should change gazebo field from trial task1 to final task1
$ roscd gazebo_drive_simulator/patch
$ sudo patch -p0 < drc_final_task_1.patch
Execute
launch simulation
If you want to use atlas with handle controller, execute following command (handle_controller mode):
$ rosrun gazebo_drive_simulator start_drc_practice_task_1.sh true
If you want to use atlas with robot driving controller in euslisp, execute following command (euslisp mode):
$ rosrun gazebo_drive_simulator start_drc_practice_task_1.sh false
$ roslaunch drc_task_common vehicle.launch ROBOT:=<robotname>
## option
# for OCS
# LAUNCH_PS3JOY (default:false)
# LAUNCH_STEERING (default:false)
# LAUNCH_UI (default:false)
# CONTROLLER_DEV (default:/dev/input/js0)
# for FC
# LAUNCH_EUS (defalut:true)
# OCS_NS (default:/ocs)
robotnameche does not matter in euslisp mode. When you want to use ps3joy locally (not OCS) as robot controller, pass LAUNCH_PS3JOY:="true" and OCS_NS:="/" to vehicle.launch. When you want to use driving_force_gt locally (not OCS) as robot controller, pass LAUNCH_STEERING:="true" and OCS_NS:="/" to vehicle.launch.
If you want to use staro, execute following command:
$ roslaunch hrpsys_gazebo_tutorials drc_practice_task_1_staro.launch
$ rosrun gazebo_drive_simulator start_staro_drive_simulator.sh
staro have not support euslisp mode yet.
move handle and pedal of drc_vehicle in gazebo
You can move drc_vehicle in simulator by driving_force_gt pro in handel_controller mode. Please make sure that handle contorller is connected as /dev/input/js0.
$ jstest /dev/input/js0
You can also move drc_vehicle in simulator by robot-driving-controller in euslisp mode. In euslisp mode, same user interface as real drc can be used.
If you want to move vehicle without handle_controller and euslisp, you can send following command.
$ rostopic echo /drc_vehicle_xp900/hand_wheel/cmd std_msgs/Float64 "{data: <rad>}"
$ rostopic echo /drc_vehicle_xp900/gas_pedal/cmd std_msgs/Float64 "{data: <percentage>}"
/drc_vehicle_xp900/gas_pedal/cmd requires a value from 0.0 to 1.0.
use recognition in gazebo
If you want to use recognition in gazebo_drive_simulator, you should execute following command:
$ rosrun drc_task_common drive_recognition.sh simulation
If the point cloud by stereo_image_proc is poor, you can change shadow of obstacles or pattern of ground: If you want to use recognition in gazebo_drive_simulator, you should execute following command:
$ roscd gazebo_drive_simulator/patch
# change ground
$ sudo patch -p0 < drc_ground.patch
# remove shadows of obstacle
$ patch -p0 < obstacle_shadows.patch
# return this change
$ sudo patch -p0 -R < drc_ground.patch
# return shadows of obstacle
$ patch -p0 -R < obstacle_shadows.patch
Changelog for package gazebo_drive_simulator
0.0.4 (2017-03-15)
- remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
- Contributors: Kei Okada
0.0.3 (2016-02-11)
0.0.2 (2015-11-26)
- gazebo_drive_simulator does not have python modules
- Contributors: Kei Okada
0.0.1 (2015-06-11)
- change base_tf from car_center to BODY
- change default rviz
- fix namespace in python script
- update README for spliting fc function
- arrange drive recognition script for dividing fc function
- add include in simulation mode
- add tf car_center launch
- add drc final task 1 for drive simulation
- Update README.md of gazebo_drive_simulator
- add script command
- remove recognition script
- change file name and remove function of mochikae
- [gazebo_drive_simulator] Do not send joint angles to atlas in simulation
- add patch for removing obstacle shadows
- add use_recognition in README and change tf in gazebo_drive_simulator.launch
- Stop re-enter car process and fix car_center tf
- [gazebo_drive_simulator] Update Readme
- [gazebo_drive_simulator] Add missing scripts from drive_recognition and fix path of them
- [gazebo_drive_simulator] Fix README again
- [gazebo_drive_simulator] Fix README
- [gazebo_drive_simulator] Update README for euslisp mode
- [gazebo_drive_simulator] Bridge driving-controller output when handle_contorller is disabled
- [gazebo_drive_simulator] Add script to bridge driving-controller and gazebo drive simulation environment
- Add controller descriptions to README
- Fix handle_contorller relays for drc_task_common version
- Fix README.md
- [gazebo_drive_simulator] Add README for gazebo_drive_simulator
- [gazebo_drive_simulator] Fix path and filename for files transported to drc_task_common
- Fix handle_contorller path for drc_task_common version
- [gazebo_drive_simulator] Fix license
- Add gazebo_drive_simulator, gazebo simulation environment for drc vehicle task
- Contributors: Hiroto Mizohana, Ryo Terasawa, Ryohei Ueda, Eisoku Kuroiwa, Iori KUmagaki
Wiki Tutorials
Source Tutorials
Launch files
- launch/staro_gazebo_drive_simulator.launch
-
- PINNED_LINK [default: BODY]
- CMD_NAMESPACE [default: /drc_vehicle_xp900]
- launch/ps3joy_interface.launch
-
- CONTROLLER_DEV [default: /dev/input/js0]
- launch/cheat_goal_direction.launch
- launch/staro_multisense_relay.launch
-
- MULTISENSE_NS [default: /multisense]
- launch/robot_pose_ekf_gazebo_drive_simulator.launch
- launch/drc_octomap_mapping.launch
- Example launch file for octomap_server mapping: Listens to incoming PointCloud2 data and incrementally builds an octomap. The data is sent out in different representations. Copy this file into your workspace and adjust as needed, see www.ros.org/wiki/octomap_server for details
-
- launch/staro_multimaster_bridge.launch
-
- master
- launch/polaris_interactive_marker.launch
-
- LAUNCH_DYNAMIC_TF_PUBLISHER [default: true]
- default_frame_id [default: car_center]
- launch/atlas_in_gazebo_drive_simulator.launch
- launch/staro_driving_demo.launch
- launch/gazebo_drive_simulator.launch
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- SIMULATION_LAUNCH [default: $(find drcsim_gazebo)/launch/vrc_task_1.launch]
- USE_HANDLE [default: true]
- CONTROLLER_DEV [default: /dev/input/js0]
- CMD_NAMESPACE [default: /drc_vehicle_xp900]
- ROSBAG_RECORD [default: false]
- ROOT_LINK [default: pelvis]
- gzworld [default: drc_final_task_1]
- CONTROLLER_DEV [default: $(arg CONTROLLER_DEV)]
- launch/multisense_sl_relay.launch
-
- MULTISENSE_NS [default: /multisense]
- launch/staro_driving_with_recognition_demo.launch
-
- master