Ridgeback + UR5 simulation

Simple repo merging ridgeback packages with ur_description to control the ridgeback using Rviz.

Use either in sim or with real robot, must be able to communicate with robot before launching rviz.

docker

# Build the Docker containers
docker compose build

# Start the Docker containers in detached mode
docker compose up -d

# Access the Docker container's shell
docker exec -it ros_docker-ros-1 bash

Commands

Gazebo sim

Office simulation:

roslaunch cpr_office_gazebo office_world.launch platform:=ridgeback

Racetrack simulation:

roslaunch ridgeback_gazebo ridgeback_world.launch

RViz

Basic Rviz:

roslaunch ridgeback_viz view_robot.launch

To use interactive markers, use this topic relay:

rosrun topic_tools relay /ridgeback_velocity_controller/cmd_vel /cmd_vel

Can also use keyboard for basic control:

rosrun ridgeback_control teleop_keyboard.py 

Navigation and mapping

More info in this tutorial

Navigation

roslaunch ridgeback_navigation odom_navigation_demo.launch
roslaunch ridgeback_viz view_robot.launch config:=navigation

Mapping

roslaunch ridgeback_navigation gmapping_demo.launch
roslaunch ridgeback_viz view_robot.launch config:=gmapping

Setup

in ridgeback_ur5_sim run :

rosdep install -y --from-paths . --ignore-src --rosdistro noetic 
catkin_make
source devel/setup.bash

TODO

Make map of robot room and save in here, use in sim !