rb1_base_sim

Packages for the simulation of the RB-1 Base

Packages

rb1_base_gazebo

This package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.

rb1_base_sim_bringup

Launch files that launch the complete simulation of the robot/s.

Simulating RB-1 Base

Dependencies

Install the following dependencies:

• rb1_base_common link

• robotnik_msgs link

• robotnik_sensors link

• robotnik_base_hw_sim link

• robot_localization_utils link

• gazebo_ros_pkgs (Robotnik’s fork) link

In the workspace install the packages dependencies:

  rosdep install --from-paths src --ignore-src -r -y
  

RB-1 Base

Launch RB-1 Base simulation (1 robot by default, up to 3 robots):

roslaunch rb1_base_sim_bringup rb1_base_complete.launch

Optional general arguments:

<arg name="launch_rviz" default="true"/>
<arg name="gazebo_world" default="$(find rb1_base_gazebo)/worlds/rb1_base_office.world"/>

Optional robot arguments:

<!--arguments for each robot (example for robot A)-->
<arg name="id_robot_a" default="robot"/>
<arg name="launch_robot_a" default="true"/>
<arg name="has_elevator_robot_a" default="true"/>
<arg name="x_init_pose_robot_a" default="0" />
<arg name="y_init_pose_robot_a" default="0" />
<arg name="z_init_pose_robot_a" default="0" />
<arg name="init_yaw_robot_a" default="0.0" />
<arg name="gmapping_robot_a" default="false"/>
<arg name="amcl_and_mapserver_robot_a" default="false"/>
<arg name="map_frame_robot_a" default="$(arg id_robot_a)_map"/>
<arg name="map_file_robot_a" default="$(find rb1_base_localization)/maps/willow_garage/willow_garage.yaml"/>
<arg name="move_base_robot_a" default="false"/>
<arg name="pad_robot_a" default="true"/>
<arg name="xacro_robot_a" default="rb1_base_std.urdf.xacro"/>

Example to launch simulation with 3 RB-1 Base robots:

roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
  launch_robot_b:=true \
  launch_robot_c:=true

Example to launch simulation with 1 RB-1 Base robot with navigation and localization:

roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
  move_base_robot_a:=true \
  amcl_and_mapserver_robot_a:=true

Example to launch simulation with 2 RB-1 Base robot with navigation and localization sharing the same global frame:

roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
  amcl_and_mapserver_robot_a:=true \
  move_base_robot_a:=true \
  map_frame_robot_a:=map \
  launch_robot_b:=true \
  amcl_and_mapserver_robot_b:=true \
  move_base_robot_b:=true \
  map_frame_robot_b:=map

Example to launch simulation with 3 RB-1 Base robot with navigation and localization sharing the same global frame:

roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
  amcl_and_mapserver_robot_a:=true \
  move_base_robot_a:=true \
  map_frame_robot_a:=map \
  launch_robot_b:=true \
  amcl_and_mapserver_robot_b:=true \
  move_base_robot_b:=true \
  map_frame_robot_b:=map \
  launch_robot_c:=true \
  amcl_and_mapserver_robot_c:=true \
  move_base_robot_c:=true \
  map_frame_robot_c:=map

You can use the topic ${id_robot}/robotnik_base_control/cmd_vel to control the RB-1 Base robot or send simple goals using /${id_robot}/move_base_simple/goal

RB-1 Base Dual Arm

There is also a version of the base plus a torso with two ur3 arms.

Example to launch rb1_base with two ur arms:

roslaunch rb1_base_sim_bringup rb1_dual_ur3_complete.launch amcl_and_mapserver:=true move_base:=true

In case you want to use moveit to manipulate the arms:

roslaunch rb1_base_sim_bringup rb1_dual_ur3_complete.launch amcl_and_mapserver:=true move_base:=true moveit_movegroup:=true

This simulation requires the use of the ros_planar plugin (Robotnik’s fork).

You can use the topic ${id_robot}/robotnik_base_control/cmd_vel to control the RB-1 Base Dual Arm robot or send simple goals using /${id_robot}/move_base_simple/goal