Repository Summary
Checkout URI | https://github.com/pal-robotics/omni_base_simulation.git |
VCS Type | git |
VCS Version | humble-devel |
Last Updated | 2024-09-03 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
omni_base_gazebo | 2.1.0 |
omni_base_simulation | 2.1.0 |
README
TIAGO OMNI Base ROS 2 Simulation
This repository contains the launch files to simulate the TIAGo OMNI Base robot in ROS 2.
Setup
Prerequisites
-
Install ROS 2 Humble by following the installation instructions.
-
Update the apt package index and install needed packages
sudo apt-get update
sudo apt-get install git python3-vcstool python3-rosdep python3-colcon-common-extensions
Disclaimer: In our testing environment, we’ve found out that the simulation is more reliable if we switch to Cyclone DDS. You can do this by installing it with
sudo apt install ros-humble-rmw-cyclonedds-cpp
and setting theRMW_IMPLEMENTATION
environment variable:export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
. More information on working with different DDS implementations here.We are still looking on the issues when working with Fast RTPS.
Setting up the workspace
Create a workspace and clone all repositories:
mkdir -p ~/omni_base_public_ws/src
cd ~/omni_base_public_ws
vcs import --input https://raw.githubusercontent.com/pal-robotics/omni_base_tutorials/humble-devel/omni_base_public.repos src
Install dependencies using rosdep
sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src
Source the environment and build
source /opt/ros/humble/setup.bash
colcon build --symlink-install
Finally, before running any application you have to source the workspace
source ~/omni_base_public_ws/install/setup.bash
Also you can add it to your .bashrc
Simulation
Standalone
Launch gazebo simulation:
ros2 launch omni_base_gazebo omni_base_gazebo.launch.py is_public_sim:=true
You can launch gazebo simulation using PAL office gazebo world by executing:
ros2 launch omni_base_gazebo omni_base_gazebo.launch.py is_public_sim:=true world_name:=pal_office
To move the robot you can use the following command from another terminal:
ros2 topic pub /mobile_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist '{linear: {x: 1}, angular: {z: 0}}' -r10
The velocities can be modified by changing the values of x, y and z.
Navigation 2
You can launch TIAGo OMNI Base navigation by executing:
ros2 launch omni_base_2dnav omni_base_nav_bringup.launch.py is_public_sim:=true
Then, you can send a goal:
- With rviz2
- By using Navigation 2 API. For further information see Navigation 2 Tutorials
Simulation + Navigation 2
You can also start the simulation and navigation together by using:
ros2 launch omni_base_gazebo omni_base_gazebo.launch.py is_public_sim:=true navigation:=true
Then, goals can be sent in the same way.
Simulation + Navigation 2 + SLAM
You can also start the simulation navigation and slam together by using:
ros2 launch omni_base_gazebo omni_base_gazebo.launch.py is_public_sim:=true navigation:=true slam:=true
To use private simulation you can avoid to set is_public_sim argument