Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
hardware:rb1_simulation [2020/12/17 15:06]
cedric.lb [Installation]
hardware:rb1_simulation [2021/02/12 13:51]
cedric.lb ↷ Page name changed from hardware:simulation to hardware:rb1_simulation
Line 12: Line 12:
 === ROS === === ROS ===
    
-If it hasn't been done already, the first step is to install ROS. The installation process and required ROS version ​varies ​depending on the OS. The simulation has been tested on ROS melodic and kinetic.+If it hasn't been done already, the first step is to install ROS. The installation process and required ROS version ​vary depending on the OS. The simulation has been tested on ROS melodic and kinetic.
  
 ROS Melodic (Ubuntu 18.04): [[http://​wiki.ros.org/​melodic/​Installation]] \\ ROS Melodic (Ubuntu 18.04): [[http://​wiki.ros.org/​melodic/​Installation]] \\
 ROS Kinetic (Ubuntu 16.04): [[http://​wiki.ros.org/​kinetic/​Installation]] ROS Kinetic (Ubuntu 16.04): [[http://​wiki.ros.org/​kinetic/​Installation]]
  
-If this your first time using ROS, it is recommended to follow the tutorials at: [[http://​wiki.ros.org/​ROS/​Tutorials]]+If this is your first time using ROS, it is recommended to follow the tutorials at: [[http://​wiki.ros.org/​ROS/​Tutorials]]
  
 The next step is to create a catkin workspace to put all the simulation packages. Details are provided here: [[http://​wiki.ros.org/​ROS/​Tutorials/​InstallingandConfiguringROSEnvironment]] The next step is to create a catkin workspace to put all the simulation packages. Details are provided here: [[http://​wiki.ros.org/​ROS/​Tutorials/​InstallingandConfiguringROSEnvironment]]
Line 25: Line 25:
 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/​
Line 51: Line 49:
 Install or update additional dependencies and packages used for simulations (gazebo...) ​ Install or update additional dependencies and packages used for simulations (gazebo...) ​
  
-  git clone ...+  git clone TODO
    
 Package containing .launchfile for the simulation and fixing a few bugs from the rb1 packages. 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 ====
  
Line 66: Line 63:
   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:
 +
 +  TODO
 + 
 ==== Testing ==== ==== Testing ====
  
Line 74: Line 76:
 === 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}}
  • hardware/rb1_simulation.txt
  • Last modified: 2021/02/12 13:51
  • by cedric.lb