robot_simulation

Package for simulation of the robotnik robots in ROS2.

The structure of the package includes:

• debs: This folder includes all the dependencies for the simulation of the robots
• robot_description_simulation: This folder includes the urdf description of the robots and the gazebo controllers. Also, the robot_state_publisher launch is added here
• robot_gazebo_classic: Package for the simulation for the robots in gazebo classic
• robot_gazebo_ignition: Package for the simulation for the robots in gazebo ignition

How to use it?

First install this package:

git clone git@github.com:RobotnikAutomation/robotnik_common.git -b humble
git clone git@github.com:RobotnikAutomation/robot_description.git -b fix/ros2-devel/basic-robots

Gazebo Classic

1. Launch the gazebo world.

This launch initiates gazebo and the world.

ros2 launch robotnik_gazebo_classic spawn_world.launch.py

arguments for the launch:

• world: This arguments selects a world in worlds folder.

ros2 launch robotnik_gazebo_classic spawn_world.launch.py world:=maze

• world_path: In the case that you have your own world to simulate, introduce the path to the world file.

2. Spawn the robot in gazebo world

This launch starts the robot_description publisher, spawn the robot in gazebo and starts the controllers.

ros2 launch robotnik_gazebo_classic spawn_robot.launch.py robot:=rbkairos

arguments for the launch:

• namespace: This will add a namespace to the nodes and topics so we can diferenciate between robots.

• robot: select the robot to spawn, options: rbkairos, rbvogui, rbsummit, rbtheron.

3. Control the robot

All the controllers for the robots work with a TwistStamped topic called /namespace/robotnik_base_controller/cmd_vel, the default topic is:

/robot/robotnik_base_controller/cmd_vel

In case of the RBKairos, the mecanum wheel cannot be simulated correctly in gazebo so move planar is used to control the robot, in that case the topic is Twist:

/robot/cmd_vel_limited