raspimouse_sim repository

Repository Summary

Checkout URI https://github.com/rt-net/raspimouse_sim.git
VCS Type git
VCS Version humble-devel
Last Updated 2024-03-06
Dev Status MAINTAINED
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
raspimouse_fake 2.1.0
raspimouse_gazebo 2.1.0
raspimouse_sim 2.1.0

README

English | 日本語

raspimouse_sim

ROS 2 package suite for Raspberry Pi Mouse Simulator runs on Gazebo

ROS 2 Package Status

main develop
(ros2)
Humble + Ubuntu Jammy
(humble-devel)
industrial_ci industrial_ci

Requirements

requires the following to run:

  • Ubuntu
    • Ubuntu Jammy Jellyfish 22.04.*
  • ROS 2
    • ROS Humble Hawksbill
  • Gazebo
    • Ignition Gazebo 6.x
  • ROS 2 Package
    • ros-humble-desktop-full

Installation

Download this ROS 2 package.

cd ~/ros2_ws/src
git clone -b ros2 https://github.com/rt-net/raspimouse_sim.git

Download the dependent ROS 2 packages.

cd ~/ros2_ws/src
git clone https://github.com/rt-net/raspimouse_ros2_examples.git
git clone -b ros2 https://github.com/rt-net/raspimouse_description.git
rosdep install -r -y -i --from-paths raspimouse*

Build this package using colcon.

cd ~/ros2_ws
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

QuickStart

After building this package, run the following commands.

ros2 launch raspimouse_gazebo raspimouse_with_emptyworld.launch.py

Examples

Joystick Controll

Terminal 1:

ros2 launch raspimouse_gazebo raspimouse_with_emptyworld.launch.py

Terminal 2:

ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false

Object Tracking

Terminal 1:

ros2 launch raspimouse_gazebo raspimouse_with_color_objects.launch.py use_rgb_camera:=true

Terminal 2:

ros2 launch raspimouse_ros2_examples object_tracking.launch.py mouse:=false use_camera_node:=false

camera_line_follower

Terminal 1:

ros2 launch raspimouse_gazebo raspimouse_with_line_follower_field.launch.py use_rgb_camera:=true camera_downward:=true

Terminal 2:

ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py mouse:=false use_camera_node:=false

Terminal 3: Start

ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: false, switch1: false, switch2: true}"

Terminal 3: Stop

ros2 topic pub --once /switches raspimouse_msgs/msg/Switches "{switch0: true, switch1: false, switch2: false}"

For information on parameters in camera line follower, click here.

SLAM & Navigation

SLAM

Terminal 1:

ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg

The lidar option supports urg, lds, and rplidar.

Terminal 2:

ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=f710 mouse:=false

Terminal 3:

ros2 launch raspimouse_slam pc_slam.launch.py

Terminal 4:

ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME

Terminal 1:

ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg

The lidar option supports urg, lds, and rplidar.

Terminal 2:

ros2 launch raspimouse_navigation pc_navigation.launch.py map:=$HOME/MAP_NAME.yaml

Model data list

course_curve_50x50cm

Curve course panel for line following. Panel size is 50 cm x 50 cm and line width is 4 cm.

course_straight_50x50cm

Straight course panel for line following. Panel size is 50 cm x 50 cm and line width is 4 cm.

cube_*cm_color-name

Each cube is 5 cm, 7.5 cm, 10 cm, and 15 cm, 30 cm on a side. The cube colors are red, yellow, blue, green and black.

about dae files

The dae file is edited in Blender 4.0.

License

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

Acknowledgements

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/rt-net/raspimouse_sim.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-11-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

raspimouse_sim

Build Status

Gaezbo上でシミュレートできるRaspberry Pi MouseのROSパッケージ一式です。

詳細なセットアップ方法はWikiにまとめています。

動作環境

以下の環境を前提として動作確認しています。

  • Ubuntu
    • Ubuntu Trusty 14.04
  • ROS
    • ROS Indigo
  • Gazebo
    • Gazebo 2.x
  • ROS Package
    • ros-indigo-desktop-full
    • ros-indigo-gazebo-ros-control
    • ros-indigo-ros-controllers

インストール方法

ターミナルを開き、以下のコマンドを実行してください。

bash -exv -c "$(curl -sSfL https://git.io/raspimouse-sim-installer)"

QuickStart

シミュレータのインストール後、次のコマンドを入力して起動してください。

rosrun raspimouse_control gen_dev_file.sh
roslaunch raspimouse_gazebo raspimouse_with_samplemaze.launch

詳細はこのページをお読みください。

スクリーンショット

サンプル迷路での動作例

URG付きモデルでの動作例

ライセンス

このリポジトリはMITライセンスに基づいて公開されています。 MITライセンスについてはLICENSEを確認してください。

引用または参考にしたリポジトリ

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/rt-net/raspimouse_sim.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2021-07-29
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
raspimouse_fake 0.1.1
raspimouse_gazebo 0.1.1
raspimouse_sim 0.1.1

README

English | 日本語

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)
industrial_ci industrial_ci industrial_ci

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

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/rt-net/raspimouse_sim.git
VCS Type git
VCS Version melodic-devel
Last Updated 2020-12-08
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
raspimouse_fake 0.1.1
raspimouse_gazebo 0.1.1
raspimouse_sim 0.1.1

README

English | 日本語

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)
industrial_ci industrial_ci industrial_ci

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

CONTRIBUTING

No CONTRIBUTING.md found.