Platform for testing ROS and Gazebo
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
build
devel
media
src
.catkin_workspace
README.md
run_cmd.sh
run_gazebo.sh
run_rviz.sh

README.md

Platform for testing ROS and Gazebo

Software Versions

  • Ubuntu: 16.04
  • ROS Version: Kinetic
  • Gazebo Version: 7.11

Based on https://github.com/richardw05/mybot_ws.git

Terminal Commands:

  • ./run_gazebo - launch gazebo world with mybot robot
  • ./run_cmd - give linear and angular velocity to robot for circular motion
  • ./run_rviz - visualization of robot with sensors in rviz

Grab willow_garage.pgm (107 MB) from https://drive.google.com/open?id=19qgc33GMiKADq-p_aDTKzgeXyQ7PxEfF for learned willow garage map.

Requirements:

sudo apt-get install ros-kinetic-gazebo-ros

sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-
interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi ros-kinetic-ar-track-
alvar-msgs

Notes:

  • Changes to CMakeLists may be required before catkin_make
  • Above recorded simulation is speed up 10 times

Usage:

Terminal 1 (Gazebo):

roslaunch mybot_gazebo mybot_world.launch

Terminal 2 (Map Building):

roslaunch mybot_navigation amcl_demo.launch

Terminal 3 (Rviz):

roslaunch mybot_description mybot_rviz_amcl.launch
  • Use 2D Nav Goal in Rviz to Navigate