/minion-ros-gazeobo-rviz

Minion Multi-Robot Simulation. Examples of Low level (Pure Pursuit and PID) and High Level Formation Controllers (NMPC planner) Incuded

Primary LanguageC

Minion Gazebo-Ros Package

Screenshots:

4 wheeled Minons

A four wheeled model of minion is available at https://github.com/aarg-kcis/Minion2_payload_level_gazebo

Battery Plugin: Clone into catkin workspace src

cd <path_to_your_workspace>/src
git clone https://github.com/pooyanjamshidi/brass_gazebo_battery.git
git clone https://github.com/yujinrobot/kobuki_msgs.git
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/<your_workspace>/src/brass_gazebo_battery/build/devel/lib
Find and remove/comment the following line in CMakeLists.txt of brass_gazebo_battery package

find_package(ignition-math2 REQUIRED)

cd <path_to_your_workspace>/
catkin_make
. devel/setup.bash
Note:(Optional) If not already added, add the catkin path in your .bashrc (or equivalent) file

Actuator Plugins: Save the Gazebo_Plugins folder outside your catkin workspace

cd Gazebo_Plugins
mkdir build
cd build
cmake ../
make
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/<path_to_Gazebo_Plugins>/Gazebo_Plugins/build

Open a 3x3 matrix of terminals (Terminator)

First terminal:

roscore

Second terminal:

roslaunch minion_robot gazebo.launch world_name:=minion_world

Third terminal:

cd catkin_ws/src/minion_robot/scripts
./setup_gazebo.sh <num_of_robots>

Open a separate terminal for each robot:

 rosrun minion_robot minion.py minion <robot_ID> #Enter 1 .. <num_of_robots> in each new terminal

To Kill Process:

cd catkin_ws/src/minion_robot/scripts
./cleanup.sh

For limits on the input velocity: Check diff_drive_controller.yaml Tutorials followed : http://wiki.ros.org/urdf/Tutorials, http://gazebosim.org/tutorials