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 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