Gazebo Environments for JetBot

Gazebo environments for testing JetBot navigation and perception algorithms.

This uses the Gazebo models from https://github.com/dusty-nv/jetbot_ros but does not require CUDA dependencies in jetbot_camera.

Installation Instructions

This instructions are for Ubuntu 18.04 with ROS Melodic already installed. Clone this repo into your catkin_ws (the code below creates a new catkin workspace named jetbot_ws in your home folder):

mkdir -p  ~/jetbot_ws/src && cd ~/jetbot_ws/src
git clone --recursive https://github.com/TIERS/jetbot-gazebo.git

sudo apt install python-catkin-tools
cd ~/jetbot_ws/  && catkin init && catkin build

Install dependencies

sudo apt install ros-melodic-turtlebot3-gazebo ros-melodic-image-view

Run the simulator

Run the simulator from the terminal with:

source ~/jetbot_ws/devel/setup.bash
roslaunch jetbot_gazebo jetbot_gazebo_stage.launch

Control the Jetbot by keyboard. Open a new terminal window/tab and run:

sudo apt install ros-melodic-teleop-twist-keyboard
source ~/jetbot_ws/devel/setup.bash
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

View camera topic. Open a new terminal window/tab and run:

source ~/jetbot_ws/devel/setup.bash
rosrun image_view image_view image:=/jetbot/camera/image_raw

Simulation Environments and Image View

Object Detection with Yolo and Darknet-ROS

TO DO

Contact

For any questions, write to jopequ@utu.fi and qingqli@utu.fi.

Visit us at https://tiers.utu.fi