MBot robot stable simulation of the system without arm.
Brought to you by:
- Instituto Superior Tecnico, Lisboa
- Institute for Systems and Robotics (ISR)
- Laboratório de Robótica e Sistemas em Engenharia e Ciência (LARSyS)
- SocRob RoboCup team
This code was tested on Ubuntu 16.04 and ROS kinetic with Gazebo 7
This is how the simulation looks like:
Clone and compile the code into your catkin workspace:
cd ~/{your_workspace}/src
git clone https://github.com/socrob/mbot_simulation_sa.git
cd mbot_simulation_sa
In the master branch the code is adapted to ROS Kinetic. There is another branch melodic with the same code for ROS Melodic and a branch melodic-robocup that does not publish ground truth position. If you are using another ROS distribution other than Kinetic or Melodic, please edit line 9 of repository.debs for your distro (DISTRO=[your_distro]). This might not work as the code was developed and tested using the above mentioned distributions. Then you can proceed:
./repository.debs
catkin build
source ~/.bashrc
Recompile the package bellow using the following commands:
roscd mbot_description
catkin build --this --make-args install
Launch the robot in an empty world:
roslaunch mbot_simulation robot.launch
You can change the simulation environment by changing in the robot.launch file the world name and path.
Enjoy!
If errors, please report bugs by using the issues in this repository