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|
volta_simulation package from volta_simulation repovolta_simulation |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/botsync/volta_simulation.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2021-03-22 |
| Dev Status | MAINTAINED |
| 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
The volta_simulation package
Additional Links
No additional links.
Maintainers
- Nikhil Venkatesh
- Toship
Authors
- Nikhil Venkatesh
- Mahendra L Seervi
Volta
ROS packages used to run the Volta in simulation
- volta_simulation - Gazebo simulation world file.
Steps to Launch Volta:
1. Launching a Gazebo Simulation environment
- Before launching the simulation, setup the model path by running the following:
$ echo "export GAZEBO_MODEL_PATH=~/volta_ws/src/:$GAZEBO_MODEL_PATH">>~/.bashrc
- To bring up our default gazebo world, launch the gazebo node by running:
$ roslaunch volta_simulation gazebo.launch indoor:=true
- Once the gazebo simulation environment is launched, run the following to spawn the Volta robot:
$ roslaunch volta_simulation simulation.launch indoor:=true
- For visualization, launch rviz by running:
$ rosrun rviz rviz
The configuration file, volta.rviz which is located under volta_description->rviz_params, can be opened in the rviz tool to load the volta configured rviz environment
- In order to start the teleoperation node using keyboard, run the following: :
$ roslaunch volta_teleoperator teleoperator.launch keyboard:=true
- To launch the joystick node, set the keyboard argument to False (Default case:= false) or run the following:
$ roslaunch volta_teleoperator teleoperator.launch
2. Mapping an environment with Volta
- Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the mapping node can be launched by running:
$ roslaunch volta_navigation navigation.launch gmapping:=true
- This will launch the gmapping node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz
You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool
- In order to control the robot, launch the teleoperation node by running:
$ roslaunch volta_teleoperator teleoperator.launch keyboard:=true
- Once the mapping of the entire environment is completed, the map can be saved by running:
$ roslaunch map_server map_saver –f <filename>
3. Navigation with Volta
- Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the navigaation node can be launched by running:
$ roslaunch volta_navigation navigation.launch
- This will launch the navigation node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz
You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool
Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map
CHANGELOG
Changelog for package volta_simulation
1.0.1 (2021-03-22)
- Fixed versions
- Added gazebo models and updated launch files.
- Kinetic devel r2 update to Kinetic
(#3)
- Merged volta_development.
- Changed maintainer name.
- Contributors: Toship
1.0.0 (2020-11-19)
- First Release
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | roslaunch | |
| 1 | catkin | |
| 2 | controller_manager | |
| 1 | gazebo_plugins | |
| 1 | gazebo_ros | |
| 1 | gazebo_ros_control | |
| 1 | hector_gazebo_plugins | |
| 1 | volta_control | |
| 1 | volta_description | |
| 1 | rostopic |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/gazebo.launch
-
- indoor [default: true]
- indoor_dynamic [default: false]
- office [default: false]
- office_full [default: false]
- world [default: $(find volta_simulation)/worlds/$(arg world_choice).world]
- launch/simulation.launch
-
- indoor [default: false]
- initX [default: -7]
- initY [default: -3]
- initYaw [default: 1.5708]
- indoor_dynamic [default: false]
- initX [default: -7]
- initY [default: -3]
- initYaw [default: 1.5708]
- office [default: false]
- office_full [default: true]
- model [default: $(find volta_description)/urdf/volta.xacro]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged volta_simulation at Robotics Stack Exchange
|
|
volta_simulation package from volta_simulation repovolta_simulation |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.1.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/botsync/volta_simulation.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2021-04-21 |
| Dev Status | MAINTAINED |
| 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
The volta_simulation package
Additional Links
No additional links.
Maintainers
- Nikhil Venkatesh
- Toship
Authors
- Nikhil Venkatesh
- Mahendra L Seervi
Volta
ROS packages used to run the Volta in simulation
- volta_simulation - Gazebo simulation world file.
Steps to Launch Volta:
1. Launching a Gazebo Simulation environment
- To bring up a gazebo world, launch the gazebo node by running:
$ roslaunch volta_simulation gazebo.launch
- Once the gazebo simulation environment is launched, run the following to spawn the Volta robot:
$ roslaunch volta_simulation simulation.launch
- For visualization, launch rviz by running:
$ rosrun rviz rviz
The configuration file, volta.rviz which is located under volta_description->rviz_params, can be opened in the rviz tool to load the volta configured rviz environment
- In order to start the teleoperation node using keyboard, run the following: :
$ roslaunch volta_teleoperator volta_teleoperator.launch keyboard:=true
- To launch the joystick node, set the keyboard argument to False (Default case:= false) or run the following:
$ roslaunch volta_teleoperator volta_teleoperator.launch
2. Mapping an environment with Volta
- Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the mapping node can be launched by running:
$ roslaunch volta_navigation navigation.launch gmapping:=true
- This will launch the gmapping node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz
You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool
- In order to control the robot, launch the teleoperation node by running:
$ roslaunch volta_teleoperator teleoperator.launch keyboard:=true
- Once the mapping of the entire environment is completed, the map can be saved by running:
$ roslaunch map_server map_saver –f <filename>
3. Navigation with Volta
- Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the navigaation node can be launched by running:
$ roslaunch volta_navigation navigation.launch
- This will launch the navigation node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz
You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool
Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map
CHANGELOG
Changelog for package volta_simulation
1.1.1 (2021-03-22)
- Added gazebo models and updated launch files.
-
Kinetic devel r2 update to melodic (#4)
- Updated Version, license
- Merged volta_development.
* Changed maintainer name. Co-authored-by: Mahendra-botsync <mahendra.l@botsync.co> Co-authored-by: nikhil-botsync <64353067+nikhil-botsync@users.noreply.github.com>
Contributors: Toship
1.1.0 (2020-11-19)
- First Release
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | roslaunch | |
| 1 | gazebo_ros | |
| 1 | catkin | |
| 2 | controller_manager | |
| 1 | gazebo_plugins | |
| 1 | gazebo_ros_control | |
| 1 | hector_gazebo_plugins | |
| 1 | volta_control | |
| 1 | volta_description | |
| 1 | rostopic |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/gazebo.launch
-
- indoor [default: false]
- indoor_dynamic [default: false]
- office [default: false]
- office_full [default: true]
- world [default: $(find volta_simulation)/worlds/$(arg world_choice).world]
- launch/simulation.launch
-
- indoor [default: false]
- initX [default: -7]
- initY [default: -3]
- initYaw [default: 1.5708]
- indoor_dynamic [default: false]
- initX [default: -7]
- initY [default: -3]
- initYaw [default: 1.5708]
- office [default: false]
- office_full [default: true]
- model [default: $(find volta_description)/urdf/volta.xacro]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.