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 2018-09-26
Dev Status MAINTAINED
Released RELEASED

Packages

Name Version
rb1_base_gazebo 1.0.2
rb1_base_sim 1.0.1
rb1_base_sim_bringup 1.1.1

README

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

  1. Install the following dependencies:

    • rb1_base_common link
    • robotnik_msgs link
    • robotnik_sensors link
    • robotnik_base_hw_sim link

    In the workspace install the packages dependencies:

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

  1. Launch RB-1 Base simulation (1 robot by default, up to 3 robots):
  2. RB-1 Base:
  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="rb1_base_a"/>
  <arg name="launch_robot_a" default="true"/>
  <arg name="map_file_a" default="$(find rb1_base_localization)/maps/willow_garage/willow_garage.yaml""/>
  <arg name="localization_robot_a" default="true"/>
  <arg name="gmapping_robot_a" default="false"/>
  <arg name="move_base_robot_a" default="false"/>
  <arg name="amcl_and_mapserver_a" default="false"/>
  <arg name="x_init_pose_robot_a" default="0" />
  <arg name="y_init_pose_robot_a" default="0" />
  <arg name="z_init_pose_robot_a" default="0" />
  <arg name="xacro_robot_a" default="rb1_base_std.urdf.xacro"/>
  <arg name="map_frame_a" default="$(arg id_robot_a)_map"/>
  <arg name="launch_base_hw_sim" default="false"/> <!-- Emulates Robotnik Base HW -->
  <arg name="launch_elevator_fake_pickup_gazebo" default="false"/> <!-- avoids Gazebo physics to pick carts-->

  • 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_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_a:=true move_base_robot_a:=true map_frame_a:=/map launch_robot_b:=true amcl_and_mapserver_b:=true move_base_robot_b:=true map_frame_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_a:=true move_base_robot_a:=true map_frame_a:=/map launch_robot_b:=true amcl_and_mapserver_b:=true move_base_robot_b:=true map_frame_b:=/map launch_robot_c:=true amcl_and_mapserver_c:=true move_base_robot_c:=true map_frame_c:=/map

  1. Enjoy! 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"

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
Released RELEASED

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.