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rmuc21_ignition_simulator package from rmuc21_ignition_simulator repo

rmuc21_ignition_simulator

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.0.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/robomaster-oss/rmuc21_ignition_simulator.git
VCS Type git
VCS Version main
Last Updated 2021-10-30
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Ignition Simulator for RoboMaster University Championship 2021

Additional Links

No additional links.

Maintainers

  • Zhenpeng Ge

Authors

No additional authors.
README.md

rmuc2021_ignition_simulator

1.简介

rmuc2021_ignition_simulator是基于Ignition Gazebo的仿真环境，为RoboMaster University Championship 2021中的机器人算法开发提供仿真环境，加快开发效率，目前仅提供简易场地。

  • RoboMaster University Championship 2021简易场地模型：
    • 模型来自于robomaster BBS论坛官方发布 （2020.11.27版），若存在区别和误差，以官方为准。
    • 不包括基地，前哨站，能量机关等复杂设施，也不包含场地纹理。

注意：Ignition Gazebo目前依然处于快速开发期，仿真功能不完善，且可能存在Bug。

2.使用说明

环境配置

ROS2和Ignition版本

  • ROS2：galactic
  • Ignition：Edifice
# install ros-ign package
sudo apt-get install ros-foxy-ros-ign
# sdf xml macro tool
pip install xmacro
# cd src directory of ros2 workspace 
git clone https://github.com/robomaster-oss/rmoss_interfaces
git clone https://github.com/robomaster-oss/rmoss_ign
git clone https://github.com/robomaster-oss/rmoss_ign_resources
git clone https://github.com/robomaster-oss/rmua19_ignition_simulator
git clone https://github.com/robomaster-oss/rmuc21_ignition_simulator
# cd ros2 workspace
colcon build
  • 使用rmua19_ignition_simulator中的标准步兵机器人，所以依赖于rmua19_ignition_simulator.

启动仿真环境

ros2 launch rmuc21_ignition_simulator standard_robot1v1.launch.py
  • 注意：需要点击ignition界面上的橙红色的启动按钮

包含两个步兵机器人(red1和blue1)

控制机器人移动 （以red1步兵机器人为例）

ros2 run rmoss_ign_base test_chassis_cmd.py  --ros-args -r __ns:=/standard_robot_red1 -p v:=0.3 -p w:=0.3

根据以下提示输入

This node takes keypresses from the keyboard and publishes them
as ChassisCmd messages.
---------------------------
Moving around:
        w    
   a    s    d
turn : '[' for left  ']' for right
stop : space key
---------------------------
CTRL-C to quit

控制机器人云台 （以red1步兵机器人为例）

ros2 run rmoss_ign_base test_gimbal_cmd.py  --ros-args -r __ns:=/standard_robot_red1

根据以下提示输入

This node takes keypresses from the keyboard and publishes them
as GimbalCmd messages.
---------------------------
contorl around:
        w    
   a    s    d
change  interval : '[' to decrease,  ']' to increase
---------------------------
CTRL-C to quit

云台相机图像查看

ros2 run rqt_image_view rqt_image_view
  • 选择相应topic即可

3.维护者及开源许可证

maintainer: Zhenpeng Ge, zhenpeng.ge@qq.com

rmuc2021_ignition_simulator is provided under MIT License.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
rclcpp
std_msgs
geometry_msgs
rmoss_interfaces
ament_cmake
ros_ign_bridge
rmoss_ign_resources
rmoss_ign_plugins
ament_lint_auto
ament_lint_common
ros_ign_gazebo

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rmuc21_ignition_simulator at Robotics Stack Exchange

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