deval-maker/omnibot_autodocking

This is a code for complete auto-docking simulation of an omnidirectional robot using ROS and Gazebo.

Omnidirectional Bot Autodocking Simulation

Prerequisites

• A linux machine
• Robot Operating System
• Gazebo

How to run the code ?

• Clone this repository/workspace and go to the downloaded directory.

$ git clone https://github.com/deval-maker/omnibot_autodocking.git
$ cd omnibot_autodocking/

• Build and Configure.

$ catkin_make
$ source devel/setup.sh  # sh/bash/zsh, depending upon the shell env.

• (A) To run Gazebo and Rviz.

$ roslaunch omnibot_description omnibot.launch

• (B) To run full Nav stack and Gazebo.

$ roslaunch omnibot_nav omnibot_nav.launch

• Unpause the simulation from gazebo. (Press Space key)

Code Tested and working with

• 16.04.1-Ubuntu Gnome
• ROS Kinetic
• Gazebo 7.13.1

Demo video link.