Difference between revisions of "Simulation"
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Next you should go ahead and create a catkin workspace:<br /> | Next you should go ahead and create a catkin workspace:<br /> | ||
<pre style="color: silver; background: black;"> | <pre style="color: silver; background: black;"> | ||
| − | + | $ source /opt/ros/indigo/setup.bash | |
| − | + | $ mkdir -p ~/hamster_simulation/src | |
| − | + | $ cd ~/hamster_simulation/src | |
| − | + | $ catkin_init_workspace | |
</pre > | </pre > | ||
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 /> | ||
| − | < | + | <pre style="color: silver; background: black;"> |
| − | + | $ git clone https://github.com/cogniteam/hamster_simulation.git | |
| − | + | $ cd ~/hamster_simulation | |
| − | + | $ catkim_make | |
| − | </ | + | </pre > |
==Launching== | ==Launching== | ||
Revision as of 08:43, 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
