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

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.
• dolly_tests: Simulation-based automated tests

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. These are the currently supported ones:

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. Install dependencies:

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

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
   

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
   

Featured

• QConSF 2018
  • 🎥 Open Source Robotics: Hands on with Gazebo and ROS 2
  • ⌨️ Source code
• InfoQ
  • 📰 Open Source Robotics: Getting Started with Gazebo and ROS 2
• The Construct's ROS tutorials
  • 🎥 ROS Developers LIVE Class #70: How to Control a Robot with ROS2 (Dashing)
  • 🎥 ROS Developers Live Class n.71: How to visualize sensor data in ROS2
  • 🎥 Exploring ROS2 with wheeled robot - #1 - Launch ROS2 Simulation
  • 🎥 Exploring ROS2 with wheeled robot - #2 - How to subscribe to ROS2 laser scan topic
  • 🎥 Exploring ROS2 using wheeled Robot - #3 - Moving the Robot
• ROSConJP 2019
  • 🎥 これからのGazebo: ROSのシミュレーションの次世代
  • ⌨️ Source code
• ROS Developers Day 2020
  • 🎥 Hands-on with Ignition and ROS2 | ROSDevDay2020 Trailer #1
  • 🎥 Hands-on with Ignition and ROS2