/ROS-Gazebo_tutorial

URDF Model for Gazebo Integrated with ROS tutorial

Primary LanguageCMakeMIT LicenseMIT

URDF Model for Gazebo Integrated with ROS

This repository contains a URDF (Unified Robot Description Format) model for a robot, designed to work with Gazebo and integrated with ROS (Robot Operating System) and a video tutorial.

Branches

This repository is organized into several branches, each serving a specific purpose:

  1. base: Creates a simple URDF model
  2. base_sensors: Adds sensors to the robot
  3. navigation: Enables autonomous navigation (updated for ROS Melodic Morenia)

Please checkout the appropriate branch for your needs.

Tutorial

For a step-by-step guide on how to use this repository, please watch our tutorial video:

MyBot Tutorial Video

simulation

Software Versions

Based on https://github.com/richardw05/mybot_ws.git

Terminal Commands:

  • ./run_gazebo - launch gazebo world with mybot robot
  • ./run_cmd - give linear and angular velocity to robot for circular motion
  • ./run_rviz - visualization of robot with sensors in rviz

Grab willow_garage.pgm (107 MB) from https://drive.google.com/open?id=19qgc33GMiKADq-p_aDTKzgeXyQ7PxEfF for learned willow garage map.

Requirements:

sudo apt-get install ros-melodic-gazebo-ros

sudo apt-get install ros-melodic-turtlebot ros-melodic-turtlebot-apps ros-melodic-turtlebot-
interactions ros-melodic-turtlebot-simulator

Notes:

  • Changes to CMakeLists may be required before catkin_make
  • Above recorded simulation is speed up 10 times

Usage:

Terminal 1 (Gazebo):

roslaunch mybot_gazebo mybot_world.launch

Terminal 2 (Map Building):

roslaunch mybot_navigation amcl_demo.launch

Terminal 3 (Rviz):

roslaunch mybot_description mybot_rviz_amcl.launch
  • Use 2D Nav Goal in Rviz to Navigate

Navigation Tutorial

Guide

Contact

If you have any questions or issues, please open an issue in this repository or contact me at yeowh@hotmail.sg