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simulation_gazebo package from mario repochatter_listener simulation_dh simulation_rviz simulation_gazebo circle |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/sra-vjti/mario.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2024-04-15 |
| 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
Additional Links
Maintainers
- proto
Authors
Table of Contents
Steps to run the demo in Gazebo
- Gazebo is the simulation tool that is used by ROS. It has a lot of Applications. In this workshop we will be using ROS to simulate the Manipulator. For the running the simulation just follow commands mentioned below.
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If you have not installed the joint_state_publishers and ros_control for ros-noetic, follow the commands given here
- Run the launch file
Make sure you have sourced your workspace before running this command.
ros2 launch simulation_gazebo basic_gazebo.launch.py
To source your workspace follow the steps menstioned below.
Steps For Running the Scripts in Gazebo
We will be testing out 2 scripts (forward_kinematics.py, inverse_kinematics.py).
Firstly copy the 4_simulation_gazebo folder to src folder in your workspace using command (in fresh terminal) :
cp -r MARIO/4_simulation_gazebo Ros2_ws/src
Now source Ros2. Use following commands in your workspace :
source /opt/ros/humble/setup.bash
Now we build simulation_gazebo package using this command:
colcon build
Now we source the workspace using following command :
source install/setup.bash
For running the scripts on gazebo, firstly launch gazebo world using the command
ros2 launch simulation_gazebo basic_gazebo.launch.py
After starting gazebo we will be testing out forward kinematics.py.
Open a fresh terminal and navigate to your workspace. Now source the workspace and run forward_kinematics.py using following commands :
source install/setup.bash
ros2 run simulation_gazebo forward_kinematics.py
Similarly, you can test out the script for inverse_kinematics.py.