dolly repository

Repository Summary

Checkout URI https://github.com/chapulina/dolly.git
VCS Type git
VCS Version foxy
Last Updated 2020-09-19
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
dolly 0.3.0
dolly_follow 0.3.0
dolly_gazebo 0.3.0
dolly_ignition 0.3.0

README

Build Status

Dolly the robot

It's a sheep, it's a dolly, it's a following robot. Born to be cloned.

Packages for launching Dolly demo, which uses ROS 2 and either Gazebo or Ignition.

Gazebo Ignition
Dolly Gazebo Dolly Ignition

Versions

Dolly is known to work on the following systems.

Branch ROS Gazebo-classic Ignition OS
crystal Crystal Gazebo 9 :x: Ubuntu Bionic
dashing Dashing Gazebo 9 :x: Ubuntu Bionic, macOS Sierra
eloquent Eloquent Gazebo 9, Gazebo 11 Citadel Ubuntu Bionic
foxy Foxy Gazebo 11 Citadel Ubuntu Focal

Packages

This repository contains the following packages:

  • dolly: Metapackage which provides all other packages.
  • dolly_follow: Provides node with follow logic.
  • dolly_gazebo: Robot model, simulation world and launch scripts for Gazebo-classic.
  • dolly_ignition: Robot model, simulation world and launch scripts for Ignition.

Install

It's encouraged that you build Dolly from source, to learn about how to develop your own packages. But in case you just want to give it a quick try, there are binaries available too.

From binaries

Dolly has been released into several ROS distros:

ROS Packages
Dashing ros-dashing-dolly
ros-dashing-dolly-follow
ros-dashing-dolly-gazebo
Eloquent ros-eloquent-dolly
ros-eloquent-dolly-follow
ros-eloquent-dolly-gazebo

From source

Install instructions for Ubuntu Bionic.

  1. Install at least one simulator, Gazebo or Ignition

  2. Install the appropriate ROS 2 version as instructed here.

  3. Clone Dolly, choose the branch according to your ROS distro:

    mkdir -p ~/ws/src
    cd ~/ws/src
    git clone https://github.com/chapulina/dolly -b <distro>
    
  4. Ignition only, for Eloquent and earlier, clone the bridge:

    git clone https://github.com/ignitionrobotics/ros_ign -b <distro>
    
  5. Install dependencies:

    cd ~/ws
    rosdep install --from-paths src --ignore-src -r -y \
        --skip-keys=ignition-math6 \
        --skip-keys=ignition-msgs5 \
        --skip-keys=ignition-transport8 \
        --skip-keys=ignition-gazebo3
    

    Tip: On Ubuntu Focal, there's no need to skip keys.

  6. Build and install:

    cd ~/ws
    colcon build
    

Run

Gazebo-classic

If you had Gazebo installed when compiling Dolly's packages, Gazebo support should be enabled.

  1. Setup environment variables (the order is important):

    . /usr/share/gazebo/setup.sh
    . ~/ws/install/setup.bash
    

    Tip: If the command ros2 pkg list | grep dolly_gazebo comes up empty after setting up the environment, Gazebo support wasn't correctly setup.

  2. Launch Dolly in a city (this will take some time to download models):

    ros2 launch dolly_gazebo dolly.launch.py world:=dolly_city.world
    
  3. Launch Dolly in an empty world:

    ros2 launch dolly_gazebo dolly.launch.py world:=dolly_empty.world
    

Ignition

  1. Setup environment variables:

    . ~/ws/install/setup.bash
    

    Tip: If the command ros2 pkg list | grep dolly_ignition comes up empty after setting up the environment, Ignition support wasn't correctly setup.

  2. Launch Dolly in a station:

    ros2 launch dolly_ignition dolly.launch.py
    

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/chapulina/dolly.git
VCS Type git
VCS Version master
Last Updated 2020-06-24
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
dolly 0.2.0
dolly_follow 0.2.0
dolly_gazebo 0.2.0
dolly_ignition 0.3.0

README

Build Status

Dolly the robot

It's a sheep, it's a dolly, it's a following robot. Born to be cloned.

Packages for launching Dolly demo, which uses ROS 2 and either Gazebo or Ignition.

Gazebo Ignition
Dolly Gazebo Dolly Ignition

Dolly has been tested on:

  • ROS 2 version:
    • ROS Crystal: crystal branch
    • ROS Dashing: dashing branch
    • ROS Eloquent: master branch
  • Gazebo version:
    • Gazebo 9
  • Ignition version:
    • Citadel
  • Operating system:
    • Ubuntu Bionic
    • OSX Sierra (thanks, @Karsten1987 !)

Install

Install instructions for Ubuntu Bionic.

  1. Install at least one simulator, Gazebo or Ignition

  2. Install the appropriate ROS 2 version as instructed here.

  3. Clone Dolly:

    mkdir -p ~/ws/src
    cd ~/ws/src
    git clone https://github.com/chapulina/dolly
    
  4. Ignition only: clone the bridge:

    git clone https://github.com/ignitionrobotics/ros_ign -b dashing
    
  5. Install dependencies:

    cd ~/ws
    rosdep install --from-paths src --ignore-src -r -y \
        --skip-keys=ignition-math6 \
        --skip-keys=ignition-msgs5 \
        --skip-keys=ignition-transport8 \
        --skip-keys=ignition-gazebo3
    
  6. Build and install:

    cd ~/ws
    colcon build
    

Run

Gazebo-classic

If you had Gazebo installed when compiling Dolly's packages, Gazebo support should be enabled.

  1. Setup environment variables (the order is important):

    . /usr/share/gazebo/setup.sh
    . ~/ws/install/setup.bash
    

    Tip: If the command ros2 pkg list | grep dolly_gazebo comes up empty after setting up the environment, Gazebo support wasn't correctly setup.

  2. Launch Dolly in a city (this will take some time to download models):

    ros2 launch dolly_gazebo dolly.launch.py world:=dolly_city.world
    
  3. Launch Dolly in an empty world:

    ros2 launch dolly_gazebo dolly.launch.py world:=dolly_empty.world
    

Ignition

  1. Setup environment variables:

    . ~/ws/install/setup.bash
    

    Tip: If the command ros2 pkg list | grep dolly_ignition comes up empty after setting up the environment, Ignition support wasn't correctly setup.

  2. Launch Dolly in a station:

    ros2 launch dolly_ignition dolly.launch.py
    

Packages

This repository contains the following packages:

  • dolly: Metapackage which provides all other packages.
  • dolly_follow: Provides node with follow logic.
  • dolly_gazebo: Robot model, simulation world and launch scripts for Gazebo-classic.
  • dolly_ignition: Robot model, simulation world and launch scripts for Ignition.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/chapulina/dolly.git
VCS Type git
VCS Version dashing
Last Updated 2020-01-07
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
dolly 0.1.1
dolly_follow 0.1.1
dolly_gazebo 0.1.1

README

Dolly the robot

It's a sheep, it's a dolly, it's a following robot. Clone Dolly now!

Packages for launching Dolly demo, which uses Gazebo and ROS 2.

Dolly city

Dolly has been tested on:

  • ROS 2 version:
    • ROS Crystal: crystal branch
    • ROS Dashing: master branch
  • Operating system:
    • Ubuntu Bionic
    • OSX Sierra (thanks, @Karsten1987 !)

Install

Install instructions for Ubuntu Bionic.

  1. Install the appropriate ROS 2 version as instructed here.

  2. Install gazebo_ros_pkgs, which also installs Gazebo. Substitute <distro> with crystal or dashing:

    sudo apt install ros-<distro>-gazebo-ros-pkgs
    
  3. Clone Dolly:

    mkdir -p ~/ws/src
    cd ~/ws/src
    git clone https://github.com/chapulina/dolly
    
  4. Build and install:

    cd ~/ws
    colcon build
    

Run

  1. Setup environment variables (the order is important):

    . /usr/share/gazebo/setup.sh
    . ~/ws/install/setup.bash
    
  2. Launch Dolly in a city (this will take some time to download models):

    ros2 launch dolly_gazebo dolly.launch.py world:=dolly_city.world
    
  3. Launch Dolly in an empty world:

    ros2 launch dolly_gazebo dolly.launch.py world:=dolly_empty.world
    

Packages

This repository contains 2 packages:

  • dolly: Metapackage which provides all other packages.
  • dolly_follow: Provides node with follow logic.
  • dolly_gazebo: Robot model, simulation world and launch scripts.

TODO

  • Make Dolly's model available to RViz

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/chapulina/dolly.git
VCS Type git
VCS Version crystal
Last Updated 2019-06-01
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
dolly_follow 0.1.0
dolly_gazebo 0.1.0

README

Dolly the robot

It's a sheep, it's a dolly, it's a following robot. Clone Dolly now!

Packages for launching Dolly demo, which uses Gazebo and ROS 2.

Dolly city

Dolly has been tested on:

  • ROS 2 version:
    • ROS Crystal: crystal branch
    • ROS Dashing: master branch
  • Operating system:
    • Ubuntu Bionic
    • OSX Sierra (thanks, @Karsten1987 !)

Install

Install instructions for Ubuntu Bionic.

  1. Install the appropriate ROS 2 version as instructed here.

  2. Install gazebo_ros_pkgs, which also installs Gazebo. Substitute <distro> with crystal or dashing:

    sudo apt install ros-<distro>-gazebo-ros-pkgs
    
  3. Clone Dolly:

    mkdir -p ~/ws/src
    cd ~/ws/src
    git clone https://github.com/chapulina/dolly
    
  4. Build and install:

    cd ~/ws
    colcon build
    

Run

  1. Setup environment variables (the order is important):

    . /usr/share/gazebo/setup.sh
    . ~/ws/install/setup.bash
    export GAZEBO_RESOURCE_PATH=/home/`whoami`/ws/src/dolly/dolly_gazebo/worlds:${GAZEBO_RESOURCE_PATH}
    export GAZEBO_MODEL_PATH=/home/`whoami`/ws/src/dolly/dolly_gazebo/models:${GAZEBO_MODEL_PATH}
    
  2. Launch Dolly in a city (this will take some time to download models):

    ros2 launch dolly_gazebo dolly.launch.py world:=dolly_city.world
    
  3. Launch Dolly in an empty world:

    ros2 launch dolly_gazebo dolly.launch.py world:=dolly_empty.world
    

Packages

This repository contains 2 packages:

  • dolly_follow: Provides node with follow logic.
  • dolly_gazebo: Robot model, simulation world and launch scripts.

TODO

  • Set Gazebo paths from launch file
  • Make Dolly's model available to RViz

CONTRIBUTING

No CONTRIBUTING.md found.