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 Classic or Ignition Gazebo.

Gazebo	Ignition

Versions

Dolly is known to work on the following systems.

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:

From source

Install instructions for Ubuntu Bionic.

1. Install at least one simulator, Gazebo Classic or Ignition Gazebo

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. Install dependencies:

    cd ~/ws
    rosdep install --from-paths src --ignore-src -r -y -i
   

5. 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
   

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