ROS (Indigo) robotic operating systems learn interesting and rich gazebo simulation examples Evarobot

have been looking for an example to include most of the basic content commonly used in Ros learning, preferably including gazebo simulation,

In this way, even without hardware equipment, can be very good study of Ros-related content, but must have the corresponding hardware, easy to follow-up study.

Here, we introduce an robot example of an accidental discovery of ROS----Evarobot----

Official Tutorial Website: Http://wiki.ros.org/Robots/evarobot

Simulation Source URL: Https://github.com/inomuh/evarobot_simulator

Enter the following text:

ROS (Indigo) robotic operating System Gazebo simulation example EVAROBOT1. Basic Installation and compilation

After downloading the feature pack, compile it in Catkin_ws, and all OK, you can use the Feature Pack.

~/catkin_ws$ Catkin_make

You may encounter some problems that may require the following command:

~/catkin_ws$ Source Devel/setup.bash

~/catkin_ws$ rosdep Install--from-path src/-y-i

~/catkin_ws$ rosstack Profiles & rospack profile

2. The example uses

Once the above steps are complete, you can review the commonly used ROS commands:

~$ rosstack find Evarobot_simulator
/home/exbot/catkin_ws/src/evarobot_simulator/evarobot_simulator

[Email protected]:~$ rospack find Evarobot_gazebo
/home/exbot/catkin_ws/src/evarobot_simulator/evarobot_gazebo

[Email protected]:~$ Rosls Evarobot_gazebo
CFG CMakeLists.txt launch map src
Changelog.rst include LICENSE package.xml worlds

Other roscd and so on, not listed. Run at Terminal:

~$ roslaunch Evarobot_gazebo evarobot.launch

~$Rosnode List
/gazebo
/joint_state_publisher
/robot_state_publisher
/rosout
/twist_marker_server
~$ rostopic List
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compresseddepth
/camera/rgb/image_raw/compresseddepth/parameter_descriptions
/camera/rgb/image_raw/compresseddepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/clock
/cmd_vel
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/sensor/bumper
/gazebo/set_link_state
/gazebo/set_model_state
/imu
/ir0
/ir0/parameter_descriptions
/ir0/parameter_updates
/ir1
/ir1/parameter_descriptions
/ir1/parameter_updates
/ir2
/ir2/parameter_descriptions
/ir2/parameter_updates
/ir3
/ir3/parameter_descriptions
/ir3/parameter_updates
/joint_states
/lidar
/odom
/rosout
/rosout_agg
/sonar0
/sonar0/parameter_descriptions
/sonar0/parameter_updates
/sonar1
/sonar1/parameter_descriptions
/sonar1/parameter_updates
/sonar2
/sonar2/parameter_descriptions
/sonar2/parameter_updates
/sonar3
/sonar3/parameter_descriptions
/sonar3/parameter_updates
/sonar4
/sonar4/parameter_descriptions
/sonar4/parameter_updates
/sonar5
/sonar5/parameter_descriptions
/sonar5/parameter_updates
/sonar6
/sonar6/parameter_descriptions
/sonar6/parameter_updates
/tf
/tf_static
/twist_marker_server/feedback
/twist_marker_server/update
/twist_marker_server/update_full

~$ rosrun rqt_reconfigure rqt_reconfigure

~$ Rviz

~$ rosrun rqt_graph rqt_graph

~$ rosrun rqt_console rqt_console

~$ rosrun rqt_plot rqt_plot/cmd_vel

Add some objects to the gazebo environment:

$ rosrun rqt_image_view rqt_image_view

You can use the keyboard, the handle or the mobile phone remote control gazebo in the robot movement, to observe the various types of sensor data changes.

can also be in the virtual simulation environment, testing various types of image algorithms, such as building their own 3D models, and so on, here no longer repeat.

If you want to look at the cloud, you can use Rviz:

3. Slam example

~$ roslaunch Evarobot_gazebo evarobot.launch world_path:=$ (Rospack find Evarobot_gazebo)/worlds/UPlat.sdf

~$ roslaunch Evarobot_slam gazebo_slam.launch

~$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

~$ roslaunch Evarobot_viz view_evarobot.launch

~$ rosrun map_server map_saver-f $ (rospack find Evarobot_slam)/gazebo_map/map

4. Navigation

~$ roslaunch evarobot_navigation gazebo_navigation.launch world_path:=$ (Rospack find Evarobot_gazebo)/worlds /UPLAT.SDF

A little bit of a problem has not been solved yet.

-end-

ROS (Indigo) robotic operating systems learn interesting and rich gazebo simulation examples Evarobot