Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/rb1_base_sim.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-06-29
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
rb1_base_control 1.0.1
rb1_base_gazebo 1.0.1
rb1_base_sim 1.0.2
rb1_base_sim_bringup 0.1.0

README

rb1_base_sim

Robot Simulation ROS packages for the Robotnik RB-1 Base,

  • rb1_base_control : Contains the configuration files for the Gazebo controllers used by the model.
  • rb1_base_gazebo : Contains the configuration files to launch the Gazebo environment along with the simulated robot.
  • rb1_base_sim_bringup : Contains the launch files to easy bringup all the simulation.
Repo symbol

rb1_base_sim repository

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/rb1_base_sim.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2021-01-05
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
rb1_base_gazebo 2.0.0
rb1_base_sim 2.0.0
rb1_base_sim_bringup 2.0.0

README

rb1_base_sim

Packages for the simulation of the RB-1 Base

RB-1-BASE Front RB-1-BASE Rear

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:

```bash 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

File truncated at 100 lines see the full file

Repo symbol

rb1_base_sim repository

Repo symbol

rb1_base_sim repository