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omni_base_simulation repository

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

  1. Install ROS 2 Humble by following the installation instructions.

  2. 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 the RMW_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.

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

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

CONTRIBUTING

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