Implementation on a custom bot on gazebo
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I wish to use py_trees_ros with a custom bot on the gazebo. For the beginning, I thought of just implementing a very simple behaviour of some combination of going forward, backward, left or right.
How can I do this?
Has somebody earlier used py_trees_ros with gazebo apart from the ros navigation application?
#4 #7
@stonier please help
Aye, fairly common application. It's actually how we got started testing our fleet of robots. The py_tree application layer was agnostic whether it was a real robot or gazebo robot under the hood.
I don't have any ros2 code for this though. Basically you'll want to just set up the behaviours for communication with the ros2 navi interfaces (probably still actions?).
You can see a pretty similar example of this in:
- Code - https://github.com/splintered-reality/py_trees_ros_tutorials/blob/devel/py_trees_ros_tutorials/five_action_clients.py
- Docs - https://py-trees-ros-tutorials.readthedocs.io/en/release-2.1.x/tutorials.html#module-py_trees_ros_tutorials.five_action_clients
The scan rotate action for instance, is very much like a typical move base action call you'd put out to a gazebo robot.
Thank you so much for these resources
in case of doubts, I will continue on this thread.
Closing out. Reopen if you wish to continue the discussion.