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hardware:rb1_simulation [2020/12/17 14:07] cedric.lb [Testing] |
hardware:rb1_simulation [2020/12/17 15:15] cedric.lb [Installation] |
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Once ROS has been installed and a catkin workspace has been prepared, the simulation packages can be installed. | Once ROS has been installed and a catkin workspace has been prepared, the simulation packages can be installed. | ||
- | A script has been prepared for the complete installation of all the required packages on ROS kinetic and melodic. | + | The commands to install all the packages are as followed: |
- | + | ||
- | The content of the script is as followed: | + | |
cd /path/to/catkin_workspace/ | cd /path/to/catkin_workspace/ | ||
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Install dependencies. ${ROS_DISTRO} is an environment variable corresponding to the ROS distribution installed. | Install dependencies. ${ROS_DISTRO} is an environment variable corresponding to the ROS distribution installed. | ||
- | $ sudo apt-get install ros-${ROS_DISTRO}-ros-control ros-${ROS_DISTRO}-joint-state-controller ros-${ROS_DISTRO}-effort-controllers ros-${ROS_DISTRO}-position-controllers ros-${ROS_DISTRO}-velocity-controllers ros-${ROS_DISTRO}-ros-controllers ros-${ROS_DISTRO}-gazebo-ros ros-${ROS_DISTRO}-gazebo-ros-control | + | sudo apt-get install ros-${ROS_DISTRO}-ros-control ros-${ROS_DISTRO}-joint-state-controller ros-${ROS_DISTRO}-effort-controllers ros-${ROS_DISTRO}-position-controllers ros-${ROS_DISTRO}-velocity-controllers ros-${ROS_DISTRO}-ros-controllers ros-${ROS_DISTRO}-gazebo-ros ros-${ROS_DISTRO}-gazebo-ros-control |
- | #rosdep update | + | rosdep install --from-paths src --ignore-src -r -y |
- | $ rosdep install --from-paths src --ignore-src -r -y | + | |
| | ||
Install or update additional dependencies and packages used for simulations (gazebo...) | Install or update additional dependencies and packages used for simulations (gazebo...) | ||
+ | |||
+ | git clone ... | ||
+ | |||
+ | Package containing .launchfile for the simulation and fixing a few bugs from the rb1 packages. | ||
+ | |||
+ | A script has been prepared for the complete installation of all the required packages on ROS kinetic and melodic. | ||
+ | |||
==== Launching ==== | ==== Launching ==== | ||
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source devel/setup.bash | source devel/setup.bash | ||
roslaunch rb1_fix rb1_${ROS_DISTRO}_complete.launch | roslaunch rb1_fix rb1_${ROS_DISTRO}_complete.launch | ||
- | | + | |
+ | The differences between the kinetic and melodic launchfiles are very slim. The only difference is that a dependency has a different name on kinetic and melodic. | ||
Optional arguments: | Optional arguments: | ||
+ | |||
+ | TO DO | ||
+ | |||
==== Testing ==== | ==== Testing ==== | ||
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=== RVIZ === | === RVIZ === | ||
- | The first window contains a 2D representation of the robot in its environment. It also provides windows to collect feedback from the robot's sensors. | + | The first window contains a 2D representation of the robot in its environment. It's also possible to use it to collect data from the robot's sensors. |
{{hardware:rb1_rviz_working.png?500}} | {{hardware:rb1_rviz_working.png?500}} | ||
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==== Known issues ==== | ==== Known issues ==== | ||
+ | === The robot doesn't appear in Rviz === | ||
+ | |||
+ | This appears if the "prefix" argument of rb1_fix/rb1_xx_complete.launch is changed or when using the launchfile from rb1_sim. | ||
+ | |||
+ | In that case, it is required to adjust the topics used by rviz. Either by changing the prefix or adding it using the prefix_name/ pattern. | ||
+ | |||
+ | For instance, if the prefix is "rb1": | ||
+ | |||
+ | {{hardware:rb1_rviz_errors.png?500}} | ||
+ | {{hardware:rb1_errors_rviz_fixed.png?500}} | ||
+ | |||
+ | If done correctly, the warnings or errors for each section should disappear. | ||
+ | |||
+ | === Gazebo: arm is stuck in a vertical position === | ||
+ | |||
+ | {{hardware:rb1_arm.png?500}} | ||
+ | This is issue is caused by incompabilities issues between the rb1_sim / rb1_common packages with kinova-ros. To solve this problem, it is currently mandatory to install the kinetic-devel version of kinova-ros. | ||
+ | === === |