rbrobout_sim

Packages for the simulation of the RB-Robout

This packages contains:

rbrobout_gazebo

Launch files and world files to start the models in gazebo

rbrobout_sim_bringup

Launch files that launch the complete simulation of the robot/s

Simulating RB-Robout

This simulation has been tested using Gazebo 9 version.

Installation and run instruccions

1. Install the following dependencies:

To facilitate the installation you can use the vcstool:

sudo apt-get install -y python3-vcstool

2. Create a workspace and clone the repository:

mkdir catkin_ws
cd catkin_ws

For the latest version:

vcs import --input \
  https://raw.githubusercontent.com/RobotnikAutomation/rbrobout_sim/noetic-devel/repos/rbrobout_sim_devel.repos
rosdep install --from-paths src --ignore-src --skip-keys="rbrobout_robot_control marker_mapping robotnik_locator robotnik_pose_filter" -y

3. Compile:

catkin build
source devel/setup.bash

ONLY: if catkin build doesn't work: The package catkin-tools is need to compile with catkin build:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install python-catkin-tools

4. Launch RB-Robout simulation (1 robot by default, up to 3 robots):

RB-Robout:

roslaunch rbrobout_sim_bringup rbrobout_complete.launch

Optional general arguments:

<arg name="launch_rviz" default="true"/>
<arg name="gazebo_world" default="$(find rbrobout_gazebo)/worlds/rbrobout_office.world"/>
<arg name="omni_drive" default="false"/> (only for RB-Robout)
<arg name="use_gpu_for_simulation" default="false"/>

By default the Gazebo plugin Planar Move to ignore the physics of the wheels + the skid steering kinematics. In case you want to disable this plugin, set the following arguments:

roslaunch rbrobout_sim_bringup rbrobout_complete.launch \
  ros_planar_move_plugin:=false \
  omni_drive:=false

Optional robot arguments:

<!--arguments for each robot (example for robot A)-->
<arg name="id_robot_a" default="robot"/>
<arg name="launch_robot_a" default="true"/>
<arg name="map_file_a" default="willow_garage/willow_garage.yaml"/>
<arg name="localization_robot_a" default="false"/>
<arg name="gmapping_robot_a" default="false"/>
<arg name="amcl_and_mapserver_a" default="true"/>
<arg name="x_init_pose_robot_a" default="0" />
<arg name="y_init_pose_robot_a" default="0" />
<arg name="z_init_pose_robot_a" default="0" />
<arg name="xacro_robot_a" default="rbrobout_std.urdf.xacro"/>

• Example to launch simulation with 3 RB-Robout robots:

roslaunch rbrobout_sim_bringup rbrobout_complete.launch \
  launch_robot_b:=true \
  launch_robot_c:=true

• Example to launch simulation with 1 RB-Robout robot with navigation:

roslaunch rbrobout_sim_bringup rbrobout_complete.launch \
  move_base_robot_a:=true \
  amcl_and_mapserver_a:=true

Enjoy! You can use the topic ${id_robot}/robotnik_base_control/cmd_vel to control the RB-Robout robot or send simple goals using /${id_robot}/move_base_simple/goal