Difference between revisions of "Simulation"

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[[Category:HamsterProKit]]
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{{DISPLAYTITLE:Hamster Simulation}}
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[[File:HamsterSimulationCTOffice.png|400px|thumb]]
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[[Category:Hamster]]
 
=== Hamster Simulation ===
 
=== Hamster Simulation ===
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==Installation==
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== Installation ==
 +
 
 
First check your current version of ROS by simply typing  in the following command:<br />
 
First check your current version of ROS by simply typing  in the following command:<br />
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<pre style="color: silver; background: black;">
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<syntaxhighlight lang="bash" line='line'>
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$ rosversion -d
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rosversion -d
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</pre>
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</syntaxhighlight>
  
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Please consider that our recommended working version of ROS is Indigo. If needed, an installation guide for Indigo can be found at the following link: http://wiki.ros.org/indigo/Installation/Ubuntu
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== ROS Installation ==
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Installation guide for ROS Indigo can be found at the following link: http://wiki.ros.org/indigo/Installation/Ubuntu
  
 
Before cloning, Some dependencies are needed if not already installed:<br />
 
Before cloning, Some dependencies are needed if not already installed:<br />
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<pre style="color: silver; background: black;">
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<syntaxhighlight lang="bash" line='line'>
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$ sudo apt-get install ros-indigo-ros-control  ros-indigo-ros-controllers ros-indigo-gazebo-ros ros-indigo-gazebo-ros-control ros-indigo-gazebo-ros-pkgs ros-indigo-controller-manager ros-indigo-gazebo-plugins ros-indigo-hector-gazebo ros-indigo-hector-gazebo-plugins ros-indigo-ackermann-msgs
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sudo apt-get install ros-<distro>-ros-control  ros-<distro>-ros-controllers ros-<distro>-gazebo-ros ros-<distro>-gazebo-ros-control ros-<distro>-gazebo-ros-pkgs ros-<distro>-controller-manager ros-<distro>-gazebo-plugins ros-<distro>-hector-gazebo ros-<distro>-hector-gazebo-plugins ros-<distro>-ackermann-msgs ros-<distro>-costmap-2d
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</pre>
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</syntaxhighlight>
  
  
 
Next you should go ahead and create a catkin workspace:<br />
 
Next you should go ahead and create a catkin workspace:<br />
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<pre style="color: silver; background: black;">
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<syntaxhighlight lang="bash" line='line'>
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$ source /opt/ros/indigo/setup.bash
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source /opt/ros/<distro>/setup.bash
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$ mkdir -p ~/hamster_simulation/src
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mkdir -p ~/hamster_simulation/src
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$ cd ~/hamster_simulation/src
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cd ~/hamster_simulation/src
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$ catkin_init_workspace
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catkin_init_workspace
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</pre >
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</syntaxhighlight>
 
Now we can clone the Hamster simulation source code into the new workspace and make it:<br />
 
Now we can clone the Hamster simulation source code into the new workspace and make it:<br />
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<pre style="color: silver; background: black;">
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<syntaxhighlight lang="bash" line='line'>
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$ git clone https://github.com/cogniteam/hamster_simulation.git
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git clone https://github.com/cogniteam/hamster_simulation.git
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$ cd ~/hamster_simulation
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cd ~/hamster_simulation
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$ catkim_make
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catkin_make
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</pre >
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</syntaxhighlight>
  
 
==Launching==
 
==Launching==
 
Before continuing, source your workspace.<br />
 
Before continuing, source your workspace.<br />
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<pre style="color: silver; background: black;">
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<syntaxhighlight lang="bash" line='line'>
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$ source ~/hamster_simulation/devel/setup.bash
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source ~/hamster_simulation/devel/setup.bash
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</pre>
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</syntaxhighlight>
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The launch file contains hamster_multi_vehicle.launch which runs two agents
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You can add more agents by editing the launch file. Follow instructions in .launch file
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 +
<syntaxhighlight lang="bash" line='line'>
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roslaunch hamster_vehicle_gazebo hamster_multi_vehicle.launch
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</syntaxhighlight>
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To run single robot with no-depth camera:
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<syntaxhighlight lang="bash" line='line'>
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roslaunch hamster_vehicle_gazebo hamster_V6_spawner.launch
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</syntaxhighlight>
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To run single robot with depth camera:
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<syntaxhighlight lang="bash" line='line'>
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roslaunch hamster_vehicle_gazebo hamster_V7_spawner.launch
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</syntaxhighlight>
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 +
Also wandering function available in simulation:
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To activate wandering mode: <syntaxhighlight>rostopic pub /agent(PUT_YOUR_AGENT_NUMBER)/commands/wandering/enable std_msgs/Bool "data: true"</syntaxhighlight>
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To stop wandering mode:<syntaxhighlight>rostopic pub /agent(PUT_YOUR_AGENT_NUMBER)/commands/wandering/enable std_msgs/Bool "data: false"</syntaxhighlight>
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 +
== AWS simulation ==
  
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The launch file contains hamster_vehicle.launch which runs one agent called agent1
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Also provided AWS wrapper with hamster_simulation:
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You can add more agents by editing the launch file.
 
  
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Also, the launch file launches a joystick node if any is connected as working on /dev/js*
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clone simulation with wrapper:
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To launch Gazebo, type in the following command:<br />
 
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<pre style="color: silver; background: black;">
 
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$ roslaunch hamster_vehicle_gazebo hamster_vehicle.launch
 
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</pre>
 
  
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<code>git clone -b aws_setup https://github.com/cogniteam/hamster_simulation.git</code>
  
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==Available Topics==
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and follow README instructions for interaction with AWS cloud
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You should see something like this:
 
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<agent> = agent1 on default
 
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* Camera - /<agent>/image_raw/
 
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* GPS - /<agent>/gps
 
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* IMU - /<agent>/imu
 
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* Lidar - /<agent>/scan_raw
 
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* Speed Commands (Ackermann) - /<agent>/ackermann_cmd
 

Latest revision as of 11:29, 19 July 2020

HamsterSimulationCTOffice.png

Hamster Simulation

Installation

First check your current version of ROS by simply typing in the following command:
<syntaxhighlight lang="bash" line='line'> rosversion -d </syntaxhighlight>

ROS Installation

Installation guide for ROS Indigo can be found at the following link: http://wiki.ros.org/indigo/Installation/Ubuntu

Before cloning, Some dependencies are needed if not already installed:
<syntaxhighlight lang="bash" line='line'> sudo apt-get install ros-<distro>-ros-control ros-<distro>-ros-controllers ros-<distro>-gazebo-ros ros-<distro>-gazebo-ros-control ros-<distro>-gazebo-ros-pkgs ros-<distro>-controller-manager ros-<distro>-gazebo-plugins ros-<distro>-hector-gazebo ros-<distro>-hector-gazebo-plugins ros-<distro>-ackermann-msgs ros-<distro>-costmap-2d </syntaxhighlight>


Next you should go ahead and create a catkin workspace:
<syntaxhighlight lang="bash" line='line'> source /opt/ros/<distro>/setup.bash mkdir -p ~/hamster_simulation/src cd ~/hamster_simulation/src catkin_init_workspace </syntaxhighlight> Now we can clone the Hamster simulation source code into the new workspace and make it:
<syntaxhighlight lang="bash" line='line'> git clone https://github.com/cogniteam/hamster_simulation.git cd ~/hamster_simulation catkin_make </syntaxhighlight>

Launching

Before continuing, source your workspace.
<syntaxhighlight lang="bash" line='line'> source ~/hamster_simulation/devel/setup.bash </syntaxhighlight>

The launch file contains hamster_multi_vehicle.launch which runs two agents You can add more agents by editing the launch file. Follow instructions in .launch file

<syntaxhighlight lang="bash" line='line'> roslaunch hamster_vehicle_gazebo hamster_multi_vehicle.launch </syntaxhighlight>

To run single robot with no-depth camera: <syntaxhighlight lang="bash" line='line'> roslaunch hamster_vehicle_gazebo hamster_V6_spawner.launch </syntaxhighlight>

To run single robot with depth camera: <syntaxhighlight lang="bash" line='line'> roslaunch hamster_vehicle_gazebo hamster_V7_spawner.launch </syntaxhighlight>

Also wandering function available in simulation: To activate wandering mode: <syntaxhighlight>rostopic pub /agent(PUT_YOUR_AGENT_NUMBER)/commands/wandering/enable std_msgs/Bool "data: true"</syntaxhighlight> To stop wandering mode:<syntaxhighlight>rostopic pub /agent(PUT_YOUR_AGENT_NUMBER)/commands/wandering/enable std_msgs/Bool "data: false"</syntaxhighlight>

AWS simulation

Also provided AWS wrapper with hamster_simulation:

clone simulation with wrapper:

git clone -b aws_setup https://github.com/cogniteam/hamster_simulation.git

and follow README instructions for interaction with AWS cloud

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