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raspimouse_sim

ROS package suite for Raspberry Pi Mouse Simulator runs on Gazebo

ROS Package Status

main develop (master)	Kinetic + Ubuntu Xenial (kinetic-devel)	Melodic + Ubuntu Bionic (melodic-devel)

The follwing branches are not maintained.

• rpim_book_version
• indigo-devel

Requirements

requires the following to run:

• Ubuntu
  • Ubuntu Xenial Xerus 16.04.*
• ROS
  • ROS Kinetic Kame
• Gazebo
  • Gazebo 7.x
• ROS Package
  • ros-kinetic-desktop-full

or

• Ubuntu
  • Ubuntu Bionic Beaver 18.04.*
• ROS
  • ROS Melodic Morenia
• Gazebo
  • Gazebo 9.x
• ROS Package
  • ros-melodic-desktop-full

Installation

Download this ROS package.

cd ~/catkin_ws/src
git clone https://github.com/rt-net/raspimouse_sim.git

Download the dependent ROS packages.

cd ~/catkin_ws/src
git clone https://github.com/ryuichiueda/raspimouse_ros_2.git
git clone https://github.com/rt-net/raspimouse_description.git
rosdep install -r -y -i --from-paths raspimouse*

Build this package using catkin_make.

cd ~/catkin_ws && catkin_make
source ~/catkin_ws/devel/setup.bash

Download the hardware model data that will be used in Gazebo.

rosrun raspimouse_gazebo download_gazebo_models.sh

QuickStart

After the installation, run the following commands.

roslaunch raspimouse_gazebo raspimouse_with_samplemaze.launch

Checkout this page for details.

Screenshots

moving in sample maze

roslaunch raspimouse_gazebo raspimouse_with_samplemaze.launch

moving with URG

roslaunch raspimouse_gazebo raspimouse_with_gasstand.launch

SLAM

# 1st terminal
roslaunch raspimouse_gazebo raspimouse_with_willowgarage.launch
# 2nd terminal
roslaunch raspimouse_ros_examples slam_gmapping.launch
# 3rd terminal
roslaunch raspimouse_ros_examples teleop.launch key:=true mouse:=false

rt-net/raspimouse_ros_examples is required to launch nodes in raspimouse_ros_examples.
Run the following commands to install it.

cd ~/catkin_ws/src
git clone https://github.com/rt-net/raspimouse_ros_examples.git
rosdep install -r -y -i --from-paths raspimouse*
cd ~/catkin_ws && catkin_make
source ~/catkin_ws/devel/setup.bash

License

This repository is licensed under the MIT license, see LICENSE.
Unless attributed otherwise, everything in this repository is under the MIT license.

Acknowledgements

• CIR-KIT/fourth_robot_pkg
  • author
  • RyodoTanaka
  • maintainer
  • RyodoTanaka
  • BSD (BSD 3-Clause License)
  • See package.xml for details.
• yujinrobot/kobuki
  • authors
  • Daniel Stonier
  • Younghun Ju
  • Jorge Santos Simon
  • Marcus Liebhardt
  • maintainer
  • Daniel Stonier
  • BSD (BSD 3-Clause License)
  • See package.xml for details。