This repository contains a simple Gazebo robot with differential drive plugin which has a Ouster OS1-64 LiDAR mounted on it.
This was tested in Ubuntu 18.04, ROS Melodic, Gazebo 9.0.0, and assumes that you have catkin tools installed.
hector_gazebo(for simulating Ouster IMU)ouster_example(forked by Wil Selby)teleop_twist_keyboard
Inside your catkin_ws/src, run the following to setup the required packages.
git clone https://github.com/stevenlee090/tortoisebot
git clone https://github.com/stevenlee090/ouster_example
git clone https://github.com/tu-darmstadt-ros-pkg/hector_gazebo
Then install the teleop_twist_keyboard for controlling the robot movement.
sudo apt-get install ros-noetic-teleop-twist-keyboard
Build the packages at your catkin_ws.
catkin build
source devel/setup.bash
Launch the robot simulation, opening Gazebo simulator and RViz for point cloud visualisation.
roslaunch tortoisebot tortoisebot.launch
# run in another terminal
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
You should also be greeted with something like the simulation shown below.
Reading from the keyboard and Publishing to Twist!
---------------------------
Moving around:
u i o
j k l
m , .
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
anything else : stop
CTRL-C to quit
├── launch
│ └── tortoisebot.launch (launch file & publish frequency)
├── rviz
│ └── tortoisebot.rviz (tells rviz to point cloud)
├── urdf
│ └── tortoisebot.urdf.xacro (defines robot & LiDAR hz, horizontal res)
├── CMakeLists.txt
├── package.xml
└── README.md
- Simulating an Ouster OS1 LiDAR Sensor in ROS Gazebo and RViz by Wil Selby
- Morgan Quigley, Brian Gerkey, William D. Smart - Programming Robots with ROS - A Practical Introduction to the Robot Operating System-O'Reilly Media (2015)
- Create appropriate fork of
ouster_example - Add instructions for setting up the robot & LiDAR from scratch