Difference between revisions of "Simulation"

Revision as of 08:49, 27 February 2017

Hamster Simulation

Installation

First check your current version of ROS by simply typing in the following command:

$ rosversion -d

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

Before cloning, Some dependencies are needed if not already installed:

$ 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

Next you should go ahead and create a catkin workspace:

$ source /opt/ros/indigo/setup.bash
$ mkdir -p ~/hamster_simulation/src
$ cd ~/hamster_simulation/src
$ catkin_init_workspace

Now we can clone the Hamster simulation source code into the new workspace and make it:

$ git clone https://github.com/cogniteam/hamster_simulation.git
$ cd ~/hamster_simulation
$ catkim_make

Launching

Before continuing, source your workspace.

$ source ~/hamster_simulation/devel/setup.bash

The launch file contains hamster_vehicle.launch which runs one agent called agent1 You can add more agents by editing the launch file.

Also, the launch file launches a joystick node if any is connected as working on /dev/js* To launch Gazebo, type in the following command:

$ roslaunch hamster_vehicle_gazebo hamster_vehicle.launch

Available Topics

You should see something like this: <agent> = agent1 on default

• Camera - /<agent>/image_raw/
• GPS - /<agent>/gps
• IMU - /<agent>/imu
• Lidar - /<agent>/scan_raw
• Speed Commands (Ackermann) - /<agent>/ackermann_cmd