From d1fa6cf8d353fbe05401001f69cdb3396bd0fa5f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Tue, 22 Mar 2022 17:32:12 +0100 Subject: [PATCH] Added basic Ignition Gazebo tutorial and restructure simulation index (#2356) * Added basic Ignition Gazebo tutorial and restructure simulation index Signed-off-by: ahcorde Co-authored-by: Chris Lalancette (cherry picked from commit ef89d387df09df351093398f50efb009a494b476) --- source/Tutorials.rst | 2 +- .../Simulators/Ignition/Image/add_lidar.png | Bin 0 -> 32698 bytes .../Simulators/Ignition/Image/fixed_frame.png | Bin 0 -> 11133 bytes .../Ignition/Image/gazebo_diff_drive.png | Bin 0 -> 165933 bytes .../Simulators/Ignition/Image/rviz2.png | Bin 0 -> 193408 bytes ...Setting-up-a-Robot-Simulation-Ignition.rst | 224 ++++++++++++++++++ .../Tutorials/Simulators/Simulation-Main.rst | 16 ++ 7 files changed, 241 insertions(+), 1 deletion(-) create mode 100644 source/Tutorials/Simulators/Ignition/Image/add_lidar.png create mode 100644 source/Tutorials/Simulators/Ignition/Image/fixed_frame.png create mode 100644 source/Tutorials/Simulators/Ignition/Image/gazebo_diff_drive.png create mode 100644 source/Tutorials/Simulators/Ignition/Image/rviz2.png create mode 100644 source/Tutorials/Simulators/Ignition/Setting-up-a-Robot-Simulation-Ignition.rst create mode 100644 source/Tutorials/Simulators/Simulation-Main.rst diff --git a/source/Tutorials.rst b/source/Tutorials.rst index c34dd03ac0..eb7c7712fe 100644 --- a/source/Tutorials.rst +++ b/source/Tutorials.rst @@ -83,7 +83,7 @@ Simulation .. toctree:: :maxdepth: 1 - Tutorials/Simulators/Webots/Setting-up-a-Robot-Simulation-Webots + Tutorials/Simulators/Simulation-Main Miscellaneous ------------- diff --git a/source/Tutorials/Simulators/Ignition/Image/add_lidar.png b/source/Tutorials/Simulators/Ignition/Image/add_lidar.png new file mode 100644 index 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z0)b6xhdyA~P8)92Y8CxkWALA%ENZsf^1?9ix1+}yJy%0l2@f5Ohvz`YH!h0_!x;2? zliWWcbk6&=%4JfD^72DhS>np-a#I&RWH*nvY!_RyOo*E8j@@LPN{Vx3*>hm)B^iqv z<>u=4nY4+a?46t$07=)#zBzv9J9ku^;AGdCNNKv1qW$^*? zer-N8Y}k&r_@4_c zlhIO#KR;bzTc#-jx5r)tv_5~U@-qpN&Gh;6XTh{c`agV;AM*>}Z$w-!-cSdM2Rm;J zqPyuh%J#vDXQN`l@xg%+_Ma?)%(t(S(Y`__. + - Compile from sources: + + - :doc:`ROS 2 install instructions <../../../Installation>` + - `Ignition install instructions `__ + +Tasks +----- + +1 Launch the simulation +^^^^^^^^^^^^^^^^^^^^^^^ + +In this demo you are going to simulate a simple diff drive robot in Ignition Gazebo. +You are going to use one of the worlds defined in the Ignition Gazebo examples called +`visualize_lidar.sdf `__. +To run this example you should execute the following command in a terminal: + + +.. tabs:: + + .. group-tab:: Linux + + .. code-block:: console + + ign gazebo -v 4 -r visualize_lidar.sdf + +.. image:: Image/gazebo_diff_drive.png + +When the simulation is running you can check the topics provided by Ignition +Gazebo with the ``ign`` command line tool: + +.. tabs:: + + .. group-tab:: Linux + + .. code-block:: console + + ign topic -l + /clock + /gazebo/resource_paths + /gui/camera/pose + /gui/record_video/stats + /model/vehicle_blue/odometry + /model/vehicle_blue/tf + /stats + /world/diff_drive/clock + /world/diff_drive/dynamic_pose/info + /world/diff_drive/pose/info + /world/diff_drive/scene/deletion + /world/diff_drive/scene/info + /world/diff_drive/state + /world/diff_drive/stats + +Since you have not launched an ROS 2 nodes yet, the output from ``ros2 topic list`` +should be free of any robot topics: + +.. tabs:: + + .. group-tab:: Linux + + .. code-block:: console + + ros2 topic list + /parameter_events + /rosout + +2 Configuring ROS 2 +^^^^^^^^^^^^^^^^^^^ + +To be able to communicate our simulation with ROS 2 you need to use a package called ``ros_ign_bridge``. +This package provides a network bridge which enables the exchange of messages between ROS 2 and Ignition Transport. +You can install this package by typing: + +.. tabs:: + + .. group-tab:: Linux + + .. code-block:: console + + sudo apt-get install ros-{DISTRO}-ros-ign-bridge + +At this point you are ready to launch a bridge from ROS to Ignition. +In particular you are going to create a bridge for the topic ``/model/vehicle_blue/cmd_vel``: + +.. tabs:: + + .. group-tab:: Linux + + .. code-block:: console + + source /opt/ros/{DISTRO}/setup.bash + ros2 run ros_ign_bridge parameter_bridge /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist + +For more details about the ``ros_ign_bridge`` please check this `README `__ . + +Once the bridge is running the robot is able to follow your motor commands. +There are two options: + +* Send a command to the topic using ``ros2 topic pub`` + + .. tabs:: + + .. group-tab:: Linux + + .. code-block:: console + + ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist "linear: { x: 0.1 }" + +* ``teleop_twist_keyboard`` package. This node takes keypresses from the keyboard and publishes them as Twist messages. You can install it typing: + + .. tabs:: + + .. group-tab:: Linux + + .. code-block:: console + + sudo apt-get install ros-{DISTRO}-teleop-twist-keyboard + + The default topic where ``teleop_twist_keyboard`` is publishing Twist messages is ``/cmd_vel`` but you can remap this + topic to make use of the topic used in the bridge: + + .. tabs:: + + .. group-tab:: Linux + + .. code-block:: console + + source /opt/ros/{DISTRO}/setup.bash + ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/model/vehicle_blue/cmd_vel + + This node takes keypresses from the keyboard and publishes them + as Twist messages. It works best with a US keyboard layout. + --------------------------- + Moving around: + u i o + j k l + m , . + + For Holonomic mode (strafing), hold down the shift key: + --------------------------- + U I O + J K L + M < > + + t : up (+z) + b : down (-z) + + anything else : stop + + q/z : increase/decrease max speeds by 10% + w/x : increase/decrease only linear speed by 10% + e/c : increase/decrease only angular speed by 10% + + CTRL-C to quit + + currently: speed 0.5 turn 1.0 + +3 Visualizing lidar data in ROS 2 +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +The diff drive robot has a lidar. +To send the data generated by Ignition to ROS 2, you need to launch another bridge. +In the case the data from the lidar is provided in the Ignition Transport topic ``/lidar2``, +which you are going to remap in the bridge. +This topic will be available under the topic ``/lidar_scan``: + +.. tabs:: + + .. group-tab:: Linux + + .. code-block:: console + + source /opt/ros/{DISTRO}/setup.bash + ros2 run ros_ign_bridge parameter_bridge /lidar2@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan --ros-args -r /lidar2:=/laser_scan + +To visualize the data from the lidar in ROS 2 you can use Rviz2: + +.. tabs:: + + .. group-tab:: Linux + + .. code-block:: console + + source /opt/ros/{DISTRO}/setup.bash + rviz2 + +Then you need to configure the ``fixed frame``: + +.. image:: Image/fixed_frame.png + +And then click in the button "Add" to include a display to visualize the lidar: + +.. image:: Image/add_lidar.png + +Now you should see the data from the lidar in Rviz2: + +.. image:: Image/rviz2.png + +Summary +------- + +In this tutorial, you launched a robot simulation with Ignition Gazebo, launched +bridges with actuators and sensors, visualized data from a sensor, and moved a diff drive robot. diff --git a/source/Tutorials/Simulators/Simulation-Main.rst b/source/Tutorials/Simulators/Simulation-Main.rst new file mode 100644 index 0000000000..a44bf2fbb9 --- /dev/null +++ b/source/Tutorials/Simulators/Simulation-Main.rst @@ -0,0 +1,16 @@ +.. _SimulationMain: + +Simulation Tutorials +==================== + +These set of tutorials will teach you how to configure different simulators with ROS 2. + +.. contents:: Contents + :depth: 2 + :local: + +.. toctree:: + :maxdepth: 1 + + Webots/Setting-up-a-Robot-Simulation-Webots + Ignition/Setting-up-a-Robot-Simulation-Ignition