volta_simulation repository

Repository Summary

Checkout URI https://github.com/botsync/volta_simulation.git
VCS Type git
VCS Version melodic-devel
Last Updated 2020-11-19
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
volta_simulation 1.1.0

README

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

  • To bring up a gazebo world, launch the gazebo node by running:
$ roslaunch volta_simulation gazebo.launch 

  • Once the gazebo simulation environment is launched, run the following to spawn the Volta robot:
$ roslaunch volta_simulation simulation.launch 

  • 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 volta_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 volta_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

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/botsync/volta_simulation.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-11-19
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
volta_simulation 1.0.0

README

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

  • To bring up a gazebo world, launch the gazebo node by running:
$ roslaunch volta_simulation gazebo.launch 

  • Once the gazebo simulation environment is launched, run the following to spawn the Volta robot:
$ roslaunch volta_simulation simulation.launch 

  • 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 volta_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 volta_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

CONTRIBUTING

No CONTRIBUTING.md found.