Difference between revisions of "Simulation"

Revision as of 09:20, 14 July 2020

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 catkim_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>

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

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