No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/RobotnikAutomation/rb1_base_sim.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2019-05-16 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
Packages
| Name | Version |
|---|---|
| rb1_base_gazebo | 1.0.2 |
| rb1_base_sim | 1.0.1 |
| rb1_base_sim_bringup | 1.1.1 |
README
rb1_base_sim
Packages for the simulation of the RB-1 Base
Packages
rb1_base_gazebo
This package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.
rb1_base_sim_bringup
Launch files that launch the complete simulation of the robot/s.
Simulating RB-1 Base
-
Install the following dependencies:
- rb1_base_common link
- robotnik_msgs link
- robotnik_sensors link
- robotnik_base_hw_sim link
- robot_localization_utils link
In the workspace install the packages dependencies:
rosdep install --from-paths src --ignore-src -r -y
- Launch RB-1 Base simulation (1 robot by default, up to 3 robots):
- RB-1 Base:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch
Optional general arguments:
<arg name="launch_rviz" default="true"/>
<arg name="gazebo_world" default="$(find rb1_base_gazebo)/worlds/rb1_base_office.world"/>
Optional robot arguments:
<!--arguments for each robot (example for robot A)-->
<arg name="id_robot_a" default="rb1_base_a"/>
<arg name="launch_robot_a" default="true"/>
<arg name="map_file_a" default="$(find rb1_base_localization)/maps/willow_garage/willow_garage.yaml""/>
<arg name="localization_robot_a" default="true"/>
<arg name="gmapping_robot_a" default="false"/>
<arg name="move_base_robot_a" default="false"/>
<arg name="amcl_and_mapserver_a" default="false"/>
<arg name="x_init_pose_robot_a" default="0" />
<arg name="y_init_pose_robot_a" default="0" />
<arg name="z_init_pose_robot_a" default="0" />
<arg name="xacro_robot_a" default="rb1_base_std.urdf.xacro"/>
<arg name="map_frame_a" default="$(arg id_robot_a)_map"/>
<arg name="launch_base_hw_sim" default="false"/> <!-- Emulates Robotnik Base HW -->
<arg name="launch_elevator_fake_pickup_gazebo" default="false"/> <!-- avoids Gazebo physics to pick carts--
<arg name="move_robot_a" default="false"/> <!-- as long as robotnik_navigation pkg is installed -->
- Example to launch simulation with 3 RB-1 Base robots:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch launch_robot_b:=true launch_robot_c:=true
- Example to launch simulation with 1 RB-1 Base robot with navigation and localization:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch move_base_robot_a:=true amcl_and_mapserver_a:=true
- Example to launch simulation with 2 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch amcl_and_mapserver_a:=true move_base_robot_a:=true map_frame_a:=/map launch_robot_b:=true amcl_and_mapserver_b:=true move_base_robot_b:=true map_frame_b:=/map
- Example to launch simulation with 3 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch amcl_and_mapserver_a:=true move_base_robot_a:=true map_frame_a:=/map launch_robot_b:=true amcl_and_mapserver_b:=true move_base_robot_b:=true map_frame_b:=/map launch_robot_c:=true amcl_and_mapserver_c:=true move_base_robot_c:=true map_frame_c:=/map
- Enjoy! You can use the topic "${id_robot}/robotnik_base_control/cmd_vel" to control the RB-1 Base robot or send simple goals using "/${id_robot}/move_base_simple/goal"
No version for distro lunar. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/RobotnikAutomation/rb1_base_sim.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2019-05-22 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
Packages
| Name | Version |
|---|---|
| rb1_base_gazebo | 1.0.2 |
| rb1_base_sim | 1.0.2 |
| rb1_base_sim_bringup | 1.1.1 |
README
rb1_base_sim
Packages for the simulation of the RB-1 Base
Packages
rb1_base_gazebo
This package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.
rb1_base_sim_bringup
Launch files that launch the complete simulation of the robot/s.
Simulating RB-1 Base
-
Install the following dependencies:
- rb1_base_common link
- robotnik_msgs link
- robotnik_sensors link
- robotnik_base_hw_sim link
- robot_localization_utils link
In the workspace install the packages dependencies:
rosdep install --from-paths src --ignore-src -r -y
- Launch RB-1 Base simulation (1 robot by default, up to 3 robots):
- RB-1 Base:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch
Optional general arguments:
<arg name="launch_rviz" default="true"/>
<arg name="gazebo_world" default="$(find rb1_base_gazebo)/worlds/rb1_base_office.world"/>
Optional robot arguments:
<!--arguments for each robot (example for robot A)-->
<arg name="id_robot_a" default="rb1_base_a"/>
<arg name="launch_robot_a" default="true"/>
<arg name="map_file_a" default="$(find rb1_base_localization)/maps/willow_garage/willow_garage.yaml""/>
<arg name="localization_robot_a" default="true"/>
<arg name="gmapping_robot_a" default="false"/>
<arg name="move_base_robot_a" default="false"/>
<arg name="amcl_and_mapserver_a" default="false"/>
<arg name="x_init_pose_robot_a" default="0" />
<arg name="y_init_pose_robot_a" default="0" />
<arg name="z_init_pose_robot_a" default="0" />
<arg name="xacro_robot_a" default="rb1_base_std.urdf.xacro"/>
<arg name="map_frame_a" default="$(arg id_robot_a)_map"/>
<arg name="launch_base_hw_sim" default="false"/> <!-- Emulates Robotnik Base HW -->
<arg name="launch_elevator_fake_pickup_gazebo" default="false"/> <!-- avoids Gazebo physics to pick carts--
<arg name="move_robot_a" default="false"/> <!-- as long as robotnik_navigation pkg is installed -->
- Example to launch simulation with 3 RB-1 Base robots:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch launch_robot_b:=true launch_robot_c:=true
- Example to launch simulation with 1 RB-1 Base robot with navigation and localization:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch move_base_robot_a:=true amcl_and_mapserver_a:=true
- Example to launch simulation with 2 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch amcl_and_mapserver_a:=true move_base_robot_a:=true map_frame_a:=/map launch_robot_b:=true amcl_and_mapserver_b:=true move_base_robot_b:=true map_frame_b:=/map
- Example to launch simulation with 3 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch amcl_and_mapserver_a:=true move_base_robot_a:=true map_frame_a:=/map launch_robot_b:=true amcl_and_mapserver_b:=true move_base_robot_b:=true map_frame_b:=/map launch_robot_c:=true amcl_and_mapserver_c:=true move_base_robot_c:=true map_frame_c:=/map
- Enjoy! You can use the topic "${id_robot}/robotnik_base_control/cmd_vel" to control the RB-1 Base robot or send simple goals using "/${id_robot}/move_base_simple/goal"
Repository Summary
| Checkout URI | https://github.com/RobotnikAutomation/rb1_base_sim.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2017-06-29 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
Packages
| Name | Version |
|---|---|
| rb1_base_control | 1.0.1 |
| rb1_base_gazebo | 1.0.1 |
| rb1_base_sim | 1.0.2 |
| rb1_base_sim_bringup | 0.1.0 |
README
rb1_base_sim
Robot Simulation ROS packages for the Robotnik RB-1 Base, - rb1_base_control : Contains the configuration files for the Gazebo controllers used by the model. - rb1_base_gazebo : Contains the configuration files to launch the Gazebo environment along with the simulated robot. - rb1_base_sim_bringup : Contains the launch files to easy bringup all the simulation.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.