p3at_for_ros_with_modelsdf

IF YOU DO NOT NEED TO VIEW YOUR ROBOT MODEL ON RVIZ, YOU CAN USE SDF FILES INSTEAD OF URDF FILES TO DESCRIBE YOUR ROBOT FOR GAZEBO.
YOU CAN CONTROL YOUR ROBOT IN GAZEBO FROM ROS WITH MODEL.SDF. YOU CAN GET A sample model.sdf of pioneer3at for using it in combination with ROS. Yes, the model.sdf is including gazebo_ros libraries.

ROBOTS

Pioneear3at_ros and Pioneer2dx_ros are imported from the gazebo models.
quadrotor_ros was imported from . centaur_ros was imported from .

REQUIREMENT OF THIS REPOSITORY

Install Ubuntu 16.04 LTS

Please done installation of Ubuntu 16.04 LTS (64bit).

Install ROS Kinetic and Gazebo7 from PPA

*Ubuntu install of ROS kinetic

*Install Gazebo using Ubuntu packages

Do followings:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'  
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116  
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list'  
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -  
sudo apt-get update  
sudo apt-get install -y cmake g++ protobuf-compiler pavucontrol libgazebo7 libgazebo7-dev ros-kinetic-desktop ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-image-view2 ros-kinetic-rqt ros-kinetic-rqt-common-plugins ros-kinetic-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-message-to-tf ros-kinetic-tf2-geometry-msgs ros-kinetic-audio-common ros-kinetic-costmap-2d ros-kinetic-image-transport ros-kinetic-image-transport-plugins  
sudo rosdep init  
rosdep update  
sudo apt-get install -y python−rosinstall  
gazebo (and wait for finish of downloading fundamental models)  

How to prepare to use this program

1. Install an(some) additional requiered software(s).

   $ sudo apt-get install ros-kinetic-hector-mapping ros-kinetic-hector-geotiff ros-kinetic-hector-pose-estimation ros-kinetic-hector-gazebo-plugins ros-kinetic-hector-gazebo-worlds ros-kinetic-hector-sensors-description

2. Build this package.

   $ cd
   $ git clone https://github.com/m-shimizu/p3at_for_ros_with_modelsdf
   $ cd p3at_for_ros_with_modelsdf/src
   $ catkin_init_workspace
   $ cd ..
   $ catkin_make

How to use a gound type robot

You need 2 terminals for spawning a robot and controlling the robot.

Terminal 1(To spawn a robot):  

$ cd p3at_for_ros_with_modelsdf  
$ source setup.bash  
$ roslaunch gazebo_ros_sdf empty.launch  
(Then spawn a robot "pioneer3at_ros" from "INSERT TAB")

Terminal 2(To control the robot):  

$ rostopic list
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/pioneer3at_ros/cmd_vel

How to fly with a quadrotor

You need 3 terminals for spawning a robot and controlling the robot.

Terminal 1(To spawn a robot):  

$ cd p3at_for_ros_with_modelsdf  
$ source setup.bash  
$ roslaunch gazebo_ros_sdf empty.launch  
(Then spawn a robot "quadrotor_ros" from "INSERT TAB")

Terminal 2(To control the robot):  

$ cd p3at_for_ros_with_modelsdf  
$ source setup.bash  
$ roslaunch hector_quadrotor_teleop buffalo_gamepad.launch robot:=quadrotor_ros  
 (AND PUSH No.4 BUTTON TO START!!)  
 (You can also use logitech_gamepad.launch or sony_dualshock3.launch or xbox_controller.launch, and you should read them to find whch button is for start.)  

Terminal 3(To watch the camera view of the robot):  

$ cd p3at_for_ros_with_modelsdf  
$ source setup.bash  
$ rostopic list | grep quadrotor_ros | grep image
$ rosrun image_view2 image_view2 image:=/quadrotor_ros/camera_ros/image  

How to get an experience with a centaur robot

You need 2 terminals for spawning a robot and controlling the robot.

Terminal 1(To spawn a robot):  

$ cd p3at_for_ros_with_modelsdf  
$ source setup.bash  
$ roslaunch gazebo_ros_sdf empty.launch world:=centaur.world  
(A centaur_ros model will be spawned and initialized in pose automatically)  

Terminal 2(To move the robot):  

$ rostopic list  
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/centaur_ros/cmd_vel_raw  

To control other joints of the robot, use a rqt trajectory controller that was opened when the gazebo started.  
You can know how to use the rqt trajectory controller heuristically.  
Try it!  

You can see all kinds of robot at once

all_robots.world can show all kinds of robot.

$ cd p3at_for_ros_with_modelsdf  
$ source setup.bash  
$ roslaunch gazebo_ros_sdf empty.launch world:=all_robots.world  

How to get an experience with a thermal camera

You need 2 terminals for spawning a robot and controlling the robot.

Terminal 1(To spawn a robot):  

$ cd p3at_for_ros_with_modelsdf  
$ source setup.bash  
$ roslaunch gazebo_ros_sdf empty.launch world:=where_is_hot.world  
(pioneer2dx_ros will be spawned automatically)

Terminal 2:  

$ rostopic list
$ rosrun image_view2 image_view2 image:=/pioneer2dx_ros/thermal_camera/image_raw &    
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/pioneer2dx_ros/cmd_vel

How to get an experience with sound

You need 2 terminals for spawning a robot and controlling the robot. At first, you have to install a gazebo that has sound function. See here.

Terminal 1(To spawn a robot):  

$ cd p3at_for_ros_with_modelsdf  
$ source setup.bash  
$ roslaunch gazebo_ros_sdf empty.launch world:=where_is_victim.world  
(pioneer3at_ros will be spawned automatically)

Terminal 2:  

$ rostopic list
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/pioneer3at_ros/cmd_vel
(Which shell hide a victim? Search the victim by only her voice with pioneer3at_ros!)

How to meet a moving hot victim

You need 1 terminal.

$ cd p3at_for_ros_with_modelsdf  
$ source setup.bash  
$ roslaunch gazebo_ros_sdf empty.launch world:=victim175.world  

How to separate a game server and your robot control client with 4 robots

You have to do things following steps on two PCs. One PC(SERVER PC) is for the game server, another PC(CLIENT PC) is for your robot control client.

[On each PC]
STEP.1: Synchronize two PC's clock.
STEP.2: Let each PC know another PC hostname and IP address by editing /etc/hosts.

[On the CLIENT PC]
STEP.3: Run next command on the CLIENT PC to give ROS master host information to ROS packages on the CLIENT PC.

$ export ROS_MASTER_URL=https://<SERVER PC IP ADRESS>:11311  

[On the SERVER PC]
STEP.4: Spawn gazebo with empty.world. If you need, you can use another world. As you know, roscore is running on the SERVER PC.

$ cd p3at_for_ros_with_modelsdf  
$ source setup.bash  
$ roslaunch gazebo_ros_sdf empty.launch world:=RC2016VRL_Final_RUN2_RETRY.world  
 (4 robots will be automatically appeared as pioneer3at_ros1, pioneer3at_ros2, pioneer3at_ros3, pioneer3at_ros4)  
 (Please run "rostopic list", you can find their topics)  

[On the CLIENT PC]
STEP.5: Run your robot control client software. For example, like a following line. You must hear sounds from gazebo on the SERVER PC.

$ cd p3at_for_ros_with_modelsdf  
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/pioneer3at_ros1/cmd_vel  
$ roslaunch audio_play play.launch ns:=gazebo  

-MEMO-
(read this, if you are interested in sound transferring with ROS between two PCs)
In side of empty.launch, a capture.launch is calling to bring the SERVER PC's sound to the CLIENT PC's ROS. A parameter "device" must to be set as "pulse" to capture "monitor of builtin sound" that gazebo output sound into.

<include file="$(find audio_capture)/launch/capture.launch">  
  <arg name="ns" value="gazebo"/>  
  <arg name="device" value="pulse"/>  
</include>  

UPDATED : 26th July 2017