Volta

ROS packages used to run the Volta in simulation

• volta_simulation - Gazebo simulation world file.

Steps to Launch Volta:

1. Launching a Gazebo Simulation environment

• Before launching the simulation, setup the model path by running the following:

$ echo "export GAZEBO_MODEL_PATH=~/volta_ws/src/:$GAZEBO_MODEL_PATH">>~/.bashrc

• To bring up our default gazebo world, launch the gazebo node by running:

$ roslaunch volta_simulation gazebo.launch indoor:=true

• Once the gazebo simulation environment is launched, run the following to spawn the Volta robot:

$ roslaunch volta_simulation simulation.launch indoor:=true

• For visualization, launch rviz by running:

 $ rosrun rviz rviz

The configuration file, volta.rviz which is located under volta_description->rviz_params, can be opened in the rviz tool to load the volta configured rviz environment

• In order to start the teleoperation node using keyboard, run the following: :

 $ roslaunch volta_teleoperator teleoperator.launch keyboard:=true 

• To launch the joystick node, set the keyboard argument to False (Default case:= false) or run the following:

 $ roslaunch volta_teleoperator teleoperator.launch  

2. Mapping an environment with Volta

• Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the mapping node can be launched by running:

$ roslaunch volta_navigation navigation.launch gmapping:=true  

• This will launch the gmapping node. On a separate terminal, launch the rviz visualization tool by running:

$ rosrun rviz rviz  

You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool

• In order to control the robot, launch the teleoperation node by running:

$ roslaunch volta_teleoperator teleoperator.launch keyboard:=true 

• Once the mapping of the entire environment is completed, the map can be saved by running:

$ roslaunch map_server map_saver –f <filename>

3. Navigation with Volta

• Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the navigaation node can be launched by running:

$ roslaunch volta_navigation navigation.launch 

• This will launch the navigation node. On a separate terminal, launch the rviz visualization tool by running:

$ rosrun rviz rviz  

You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool

Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map