/robotx_gazebo

The gazebo simulation of RobotX competition

Primary LanguageC++

RobotX Gazebo

Introduction

This repo is the gazeo simulation of RobotX competition and is based on vmrc

all_models

Prerequisites

  1. Install dependencies the shellscript will install the gazebo plugins and python pkgs which we need.
$ source dependencies_common.sh
  1. catkin_make
$ cd ~/robotx_gazebo/catkin_ws/
$ catkin_make

Hardware and Model

  • WAM-V
    • Hardware
      • HDL32E LiDAR
      • GPS
      • IMU
      • Front rgb camera * 3 (1280*720)
      • dynamincs and thruster * 2
    • Software
      • p3d (3D Position Interface for Ground Truth)
    • Environment
      • wind
      • wave
  • Tasks Models
    • Ocean
    • Sky
    • sandisland
    • Green, Yellow, Red, Green buoys
    • Light buoys
    • Black buoys with A3, A5, A7
    • Dock with 3 colors and 3 shapes
    • Detect and deliever buoy

How to run the example

Launch the world

the world is about coarse approximation of the RobotX competition area, Sand Island, Honolulu, HI.

$ source environment.sh
$ roslaunch robotx_gazebo sandisland_nctu.launch

Control the WAM-V

there are 3 ways that can control the WAM-V

  1. rostopic pub
$ rostopic pub --once /cmd_drive robotx_gazebo/UsvDrive '{left: 0.5, right: -0.5}'
  1. Keyboard
roslaunch robotx_gazebo usv_keydrive.launch
  1. Joytick
robotx_gazebo usv_diffdrive.launch

Remind

  • Add sensors on robot
    please make the xacro file under vmrc/robotx_gazebo/urdf, and include the file in wamv_description/wamv_robotx_nctu.xacro
  • Build the worlds about task
    please save the file under vmrc/robotx_gazebo/worlds and chanege the arg "world" in vmrc/robotx_gazebo/sandisland_nctu.launch
  • Add models or 3D file such like buoys, *.dae ......
    please save the file under vmrc/robotx_gazebo/models

Contacts