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A Gazebo simulator for Happy Mini
C++ CMake
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mini_control
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README.md

README.md

*** A ROS Gazebo simulator for Happy Mini by Kosei Demura ***
Happy Mini is a "kawaii" life-support robot based on the Kobuki base

  1. Environment
    Ubuntu14.04 and ROS Iindigo

  2. Ubuntu Package Install
    $ sudo apt-get install ros-indigo-openni-camera ros-indigo-rosbridge-suite ros-indigo-moveit-full ros-indigo-turtlebot-* ros-indigo-kobuki-* ros-indigo-moveit-python ros-indigo-laser-pipeline ros-indigo-laser-filters ros-indigo-hokuyo-node ros-indigo-depthimage-to-laserscan ros-indigo-gazebo-ros ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-msgs ros-indigo-gazebo-plugins ros-indigo-gazebo-ros-control ros-indigo-cmake-modules ros -indigo-kobuki-gazebo-plugins ros-indigo -kobuki-gazebo ros-indigo-robot-pose-publisher ros-indigo-tf2-web-republisher ros-indigo-move-base-msgs ros-indigo-fake-localization liburdfdom-tools ros-indigo-laptop-battery-monitor ros-indigo-ar-track-alvar* ros-indigo-map-server ros-indigo-move-base* ros-indigo-simple-grasping

  3. Install
    $ cd catkin_ws
    $ git clone https://github.com/demulab/mini_sim.git

  4. Build
    $ cd catkin_ws
    $ catkin_make

  5. Run
    (1) Mini 1.0 (with a 2 DOF arm)
    $ roslaunch mini_description mini1.0.launch
    $ rosrun mini_control mini_control
    (2) Mini 1.5 (with a 5 DOF arm)
    $ roslaunch mini_description mini1.5.launch
    $ rosrun mini_control mini_control

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