Installing the Arbotix Simulator Emulation environment ()

Install the RBX1 Feature Pack first:

To install the emulator:

sudo apt-get Install ros-indigo-arbotix-*

To delete an earlier version of the Arbotix stack

Rospack profile

After everything succeeds, start Roscore, and then start the Arbotix stack

Roslaunch Rbx1_bringup Fake_turtlebot.launch

Output information:

... logging to/home/cam/.ros/log/0e1bcdfa-7998-11e6-b214-b01041f9588f/ Roslaunch-cam-aspire-v3-572g-17338.logchecking log directory for disk usage. This could take awhile. Press CTRL-C to interruptdone checking log file disk usage. Usage is <1gb.started roslaunch server Http://cam-Aspire-V3-572G:46539/SUMMARY========CLEAR PARAMETERS */arbotix/ PARAMETERS */arbotix/baud:115200 */arbotix/controllers/base_controller/kd:12 */arbotix/controllers/base_ controller/ki:0 */arbotix/controllers/base_controller/ko:50 */arbotix/controllers/base_controller/kp:12 */arbotix /controllers/base_controller/accel_limit:1.0 */arbotix/controllers/base_controller/base_frame_id:base_link */ arbotix/controllers/base_controller/base_width:0.26 */arbotix/controllers/base_controller/ticks_meter:4100 */ Arbotix/controllers/base_controller/type:diff_controller */arbotix/joints/arm_elbow_flex_joint/id:3 */arbotix/ Joints/arm_elbow_flex_joint/invert:true */ARBOTIX/JOINTS/ARM_ELBOW_FLEX_JOINT/MAX_SPeed:100 */arbotix/joints/arm_elbow_flex_joint/neutral:512 */arbotix/joints/arm_shoulder_lift_joint/id:2 */arbotix /joints/arm_shoulder_lift_joint/invert:true */arbotix/joints/arm_shoulder_lift_joint/max_speed:100 */arbotix/ joints/arm_shoulder_lift_joint/neutral:512 */arbotix/joints/arm_shoulder_pan_joint/id:1 */arbotix/joints/arm_ Shoulder_pan_joint/invert:false */arbotix/joints/arm_shoulder_pan_joint/max_angle:145 */arbotix/joints/arm_ shoulder_pan_joint/max_speed:100 */arbotix/joints/arm_shoulder_pan_joint/min_angle: -145 */arbotix/joints/arm_ shoulder_pan_joint/neutral:512 */arbotix/joints/arm_wrist_flex_joint/id:4 */arbotix/joints/arm_wrist_flex_joint/ Invert:true */arbotix/joints/arm_wrist_flex_joint/max_angle:90 */arbotix/joints/arm_wrist_flex_joint/max_speed: */arbotix/joints/arm_wrist_flex_joint/min_angle: -90 */arbotix/joints/arm_wrist_flex_joint/neutral:512 */ Arbotix/joints/gripper_joint/id:5 */arbotix/joints/gripper_joint/invert:false */arBOTIX/JOINTS/GRIPPER_JOINT/MAX_ANGLE:25 */arbotix/joints/gripper_joint/max_speed:100 */arbotix/joints/gripper_ Joint/min_angle: -20 */arbotix/joints/gripper_joint/neutral:512 */arbotix/joints/head_pan_joint/id:6 */arbotix/ Joints/head_pan_joint/invert:false */arbotix/joints/head_pan_joint/max_angle:145 */arbotix/joints/head_pan_joint /max_speed:100 */arbotix/joints/head_pan_joint/min_angle: -145 */arbotix/joints/head_pan_joint/neutral:512 */ Arbotix/joints/head_tilt_joint/id:7 */arbotix/joints/head_tilt_joint/invert:false */arbotix/joints/head_tilt_ JOINT/MAX_ANGLE:90 */arbotix/joints/head_tilt_joint/max_speed:100 */arbotix/joints/head_tilt_joint/min_angle:-90  */arbotix/joints/head_tilt_joint/neutral:512 */arbotix/port:/dev/ttyusb0 */arbotix/rate:20 */arbotix/read_rate:20 */arbotix/sim:true */arbotix/sync_read:true */arbotix/sync_write:true */arbotix/write_rate:20 */robot_descriptio N: <?xml version= "1 .... */robot_state_publisher/publish_frequency:20.0 */rosdistro:indigo */rosversion:1.11.20 */use_sim_time:falsenodes/arbotix (ARBOTIX_PYTHON/ARBOTIX_DR Iver) Base_footprint_broadcaster (tf/static_transform_publisher) Move_fake_pi_arm_start (rbx1_bringup/move_fake_pi _arm_start.py) Robot_state_publisher (robot_state_publisher/state_publisher) ros_master_uri=http://localhost : 11311core service [/rosout] foundprocess[arbotix-1]: Started with PID [17360]process[move_fake_pi_arm_start-2]: Started with PID [17361]process[robot_state_publisher-3]: Started with PID [17362]process[base_footprint_ BROADCASTER-4]: Started with PID [17367]

Using a model of the Pi robot, run the command:

Rosrun Rviz rviz-d ' rospack find Rbx1_nav '/sim.rviz

Post a message, test the simulation, and rotate the analog robot clockwise:

Ten ' {linear: {x:0, y:0.2, z:0}, angular: {x:0, y:0, z:0.5}} '

You need to stop the robot, ctrl-c in the same terminal window, or publish an empty twist message:

Rostopic Pub-1'{}'

Installing the Arbotix Simulator Emulation environment ()