Developer: Ragesh Ramachandran Mentor: David Portugal, Ingeniarius Ltd.
This package contains the basic framework to run a robot in the Gazebo Simulator with ROS.
This is part of the extra tasks of RobotCraft, class of 2018.
You should have ROS Kinetic and Gazebo 7 installed on Ubuntu 16.04. Install the following dependencies:
sudo apt install ros-kinetic-move-base ros-kinetic-nav-core ros-kinetic-amcl ros-kinetic-map-server
Clone this packages into your workspace (assuming it is at /home/your_user/catkin_ws):
cd ~/catkin_ws/src
git clone https://github.com/ingeniarius-ltd/ctcv_gazebo
Install the following dependencies:
sudo apt install ros-kinetic-move-base ros-kinetic-nav-core ros-kinetic-amcl ros-kinetic-map-server
Then compile it
cd ~/catkin_ws
catkin_make
To start up the Gazebo environment with the CTCV and 1 Robot do:
roslaunch ctcv_gazebo ctcv.launch
And in a separate terminal, start the localization and navigation software of the robot:
roslaunch ctcv_gazebo robot.launch
To start up the Gazebo environment with the CTCV and 1 Robot for autonomous docking.
roslaunch ctcv_gazebo recharge.launch
To send the location of the docking station as service request
rosservice call /dock_service "pose:
x: 0.0
y: 0.0
theta: 0.0
offset_distance: 0.0
battery_thresh: 0.0
robot_width: 0.0"