RoPod/Tutorials/GAZEBO installation and interface with ROS: Difference between revisions
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Install gazebo (versions 7.x are compatible with ROS kinetic) | Install gazebo (versions 7.x are compatible with ROS kinetic) | ||
<ref> | <ref>http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install</ref> | ||
<pre>curl -ssL http://get.gazebosim.org | sh</pre> | <pre>curl -ssL http://get.gazebosim.org | sh</pre> | ||
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Get familiar with the data being published, the nodes, etc. See ROS tutorials | Get familiar with the data being published, the nodes, etc. See ROS tutorials | ||
== References == | == References == | ||
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Revision as of 17:48, 23 March 2017
GAZEBO is a set of ROS packages that provide the necessary interfaces to simulate a robot in the Gazebo 3D rigid body simulator for robots. It integrates with ROS using ROS messages, services and dynamic reconfigure.
Install gazebo (versions 7.x are compatible with ROS kinetic) [1]
curl -ssL http://get.gazebosim.org | sh
Install gazebo_ros_pkgs and some extra packages needed to run the basis ropod model
sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control sudo apt install ros-kinetic-joint-state-controller sudo apt install ros-kinetic-effort-controllers
Get familiar with ROS and with the catkin_make way of working: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
Now we will install existing ROS and gazebo files that will allow to perform simulations of the ropod
Ensure you configured GitHub and you have downloaded the repository: See tutorial
Now you are ready to start the ropod_gazebo model plus the ROS packages to interact with it.
The first time you install the files in your computer be sure that the folders ‘build’ and ‘devel’ are removed, as well as the file src/Cmakelists.txt
Then, on the main directory level, run a cmake command to generate the executable files
catkin_make
Then source your environment variables:
source devel/setup.bash
Then, we can launch the ropod gazebo model, which is already connected with ROS
roslaunch ropod_gazebo ropod_world.launch
Get familiar with the data being published, the nodes, etc. See ROS tutorials