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hardware:rb1_simulation [2020/12/17 14:07]
cedric.lb [Testing]
hardware:rb1_simulation [2021/02/12 13:51] (current)
cedric.lb ↷ Page name changed from hardware:simulation to hardware:rb1_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 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 TODO
 + 
 +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:
 +
 +  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}}
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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.
  
 +=== ===
  • hardware/rb1_simulation.1608214034.txt.gz
  • Last modified: 2020/12/17 14:07
  • by cedric.lb