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hardware:rb1_simulation [2020/12/17 15:09] cedric.lb |
hardware:rb1_simulation [2021/02/12 09:04] cedric.lb ↷ Page name changed from hardware:documentation to hardware:simulation |
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| === 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]] | ||
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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 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 ==== | ||
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| Optional arguments: | Optional arguments: | ||
| - | TO DO | + | TODO |
| ==== 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}} | ||