jinbo-huang/duckietown-gazebo

Duckietown Environment and Duckiebot in gazebo

With this folder, you can run duckietown environment and control robot with gazebo.

Install Depencencies

Requirements:

• Python 3
• ROS Melodic
• Gazebo 9
• Catkin_tools
• Catkin_pkg

NOTE: To build successfully, maybe you need to install a lot ros packages. Based on the error message, use sudo apt-get install ros-melodic-packagename.

Install

Install Catkin from source (the version on pip doesn't work)

• Follow the instructions here

Setup Duckietown environment in gazebo

• Clone this repo & go to the directory
• source /opt/ros/melodic/setup.bash
• catkin build
• source devel/setup.bash or source devel/setup.zsh
• cd src/duckietown_gazebo
• source env_gazebo.sh
• cd ..
• ./run_gazebo.sh
• You should be able to see a Duckiebot in Duckietown in gazebo.

In gazebo, shortcut "Ctrl+T" can call out "Gazebo: Topic Selector" window. Then click topic /gazebo/default/mybot/chassis/camera1/imageunder gazebo.msgs.ImageStamped, a camera window of dockiebot will show up.

You can also control robot through publish messege to topic with command rostopic pub /cmd_vel geometry_msgs/Twist "linear: x: 0.2 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.1" or ./run_cmd

Note: When loading some tracks, there might be an error message [Err] [InsertModelWidget.cc:405] Missing model.config for model "/home/iceman126/duckietown-gazebo/src/duckietown_gazebo/models/rubber_duck". We are not sure this is would be a problem, since there's another model called gazebo_duck in the directory and the duckietown environment looks fine.

TODO: complete the list of depencencies to install.

sudo apt-get install \
ros-kinetic-xacro

# Python packages
pip install \
catkin_pkg \
catkin-tools \
defusedxml \
pyzmq \
rospkg \
pygazebo==3.0.0-2014.1