ros:turtlebot:simu
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ros:turtlebot:simu [2014/02/14 10:22] – [Connectivity and bugs] towa45 | ros:turtlebot:simu [Unknown date] (current) – removed - external edit (Unknown date) 127.0.0.1 | ||
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- | #Simulating a Turtlebot in a virtual world | ||
- | These steps will allow you to simulate and play with a virtual Turtlebot powered by gazebo. | ||
- | #Install | ||
- | |||
- | first take a look at gazebo simulator, please refer to [[http:// | ||
- | if not installed yet, you need turtlebot simulator. | ||
- | sudo apt-get install ros-hydro-turtlebot-simulator | ||
- | |||
- | #Run simulations | ||
- | |||
- | |||
- | ##First simulations | ||
- | |||
- | First you can try to run an empty world: | ||
- | roslaunch turtlebot_gazebo turtlebot_empty_world.launch | ||
- | |||
- | you should wait a little until you see the turtlebot model in gazebo, Or a bug in the terminal (refer to Connectivity and bugs). | ||
- | |||
- | If you see your robot, your simulation should run correctly. You can check all the ROS nodes ans topics by launching | ||
- | rqt_graph | ||
- | You should see a /gazebo bubble replacing the robot when you are playing with the real robot. | ||
- | That means you can now use the usual demo software for the turtlebot such as keyboard teleop, revitz navigation, SLAM, ... | ||
- | |||
- | You will create your physical world in gazebo (placing obstacles, creating a world) and then everything should be as if you were using the real robot including sensons feedback. | ||
- | |||
- | ##Advanced simulation | ||
- | |||
- | If you are bored of the flat map, you cal load a map with some obstacles: | ||
- | roslaunch turtlebot_gazebo turtlebot_playground.launch | ||
- | |||
- | |||
- | ## | ||
- | |||
- | |||
- | It seems that a lot of issues I had trying to simulate the turtlebot with gazebo came from a bad internet connection. Gazebo needs to acces the server to download files. | ||
- | |||
- | I had some other more or less random segmentation fault. All this stuff doesn' | ||
- | |||
- | I had more problems with | ||
- | roslaunch turtlebot_gazebo turtlebot_playground.launch | ||
- | |||
- | It seems to be a bit tricky to get the gmapping working with gazebo. | ||
- | |||
- | My success to make it work is random for now. | ||
- | |||
- | I'm followig the procedure: | ||
- | |||
- | * launch gazebo (turtlebot emty world) | ||
- | * wait until gazebo displays the robot | ||
- | * launch the gazebo gmapping demo | ||
- | * waint until you see the SLAM running: this step often fails, and SLAM never starts, I don't know why... | ||
- | * then you can set up your gazebo environment (willowgarage for instance) | ||
- | * finaly you should be able to run rviz view_navigation and build your map with a teleop. | ||
- | |||
- | ##Next steps | ||
- | It's time for you to play with demo codes such as: | ||
- | roslaunch turtlebot_gazebo gmapping_demo.launch | ||
- | roslaunch turtlebot_rviz_launchers view_navigation.launch | ||
- | |||
- | And of course all the kickass obstacle avoidance algorithms you could think of ;-). | ||
- | |||
- | Have fun! | ||
- | |||
- | |||
- | #References | ||
- | Basicaly everything comes from the [[http:// |
/home/share/www/redox.ws/wiki/data/attic/ros/turtlebot/simu.1392373322.txt.gz · Last modified: 2023/11/24 21:55 (external edit)