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volta_simulation package from volta_simulation repovolta_simulation |
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Package Summary
| Tags | No category tags. |
| Version | 1.1.1 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/botsync/volta_simulation.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2021-04-21 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The volta_simulation package
Additional Links
No additional links.
Maintainers
- Nikhil Venkatesh
- Toship
Authors
- Nikhil Venkatesh
- Mahendra L Seervi
Volta
ROS packages used to run the Volta in simulation
- volta_simulation - Gazebo simulation world file.
Steps to Launch Volta:
1. Launching a Gazebo Simulation environment
- To bring up a gazebo world, launch the gazebo node by running:
$ roslaunch volta_simulation gazebo.launch
- Once the gazebo simulation environment is launched, run the following to spawn the Volta robot:
$ roslaunch volta_simulation simulation.launch
- For visualization, launch rviz by running:
$ rosrun rviz rviz
The configuration file, volta.rviz which is located under volta_description->rviz_params, can be opened in the rviz tool to load the volta configured rviz environment
- In order to start the teleoperation node using keyboard, run the following: :
$ roslaunch volta_teleoperator volta_teleoperator.launch keyboard:=true
- To launch the joystick node, set the keyboard argument to False (Default case:= false) or run the following:
$ roslaunch volta_teleoperator volta_teleoperator.launch
2. Mapping an environment with Volta
- Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the mapping node can be launched by running:
$ roslaunch volta_navigation navigation.launch gmapping:=true
- This will launch the gmapping node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz
You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool
- In order to control the robot, launch the teleoperation node by running:
$ roslaunch volta_teleoperator teleoperator.launch keyboard:=true
- Once the mapping of the entire environment is completed, the map can be saved by running:
$ roslaunch map_server map_saver –f <filename>
3. Navigation with Volta
- Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the navigaation node can be launched by running:
$ roslaunch volta_navigation navigation.launch
- This will launch the navigation node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz
You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool
Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map
CHANGELOG
Changelog for package volta_simulation
1.1.1 (2021-03-22)
- Added gazebo models and updated launch files.
- Kinetic devel r2 update to melodic
(#4)
- Updated Version, license
- Merged volta_development.
* Changed maintainer name. Co-authored-by: Mahendra-botsync <<mahendra.l@botsync.co>> Co-authored-by: nikhil-botsync <<64353067+nikhil-botsync@users.noreply.github.com>>
- Contributors: Toship
1.1.0 (2020-11-19)
- First Release
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 |
|---|---|
| roslaunch | |
| gazebo_ros | |
| catkin | |
| controller_manager | |
| gazebo_plugins | |
| gazebo_ros_control | |
| hector_gazebo_plugins | |
| volta_control | |
| volta_description | |
| rostopic |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/simulation.launch
-
- indoor [default: false]
- initX [default: -7]
- initY [default: -3]
- initYaw [default: 1.5708]
- indoor_dynamic [default: false]
- initX [default: -7]
- initY [default: -3]
- initYaw [default: 1.5708]
- office [default: false]
- office_full [default: true]
- model [default: $(find volta_description)/urdf/volta.xacro]
- launch/gazebo.launch
-
- indoor [default: false]
- indoor_dynamic [default: false]
- office [default: false]
- office_full [default: true]
- world [default: $(find volta_simulation)/worlds/$(arg world_choice).world]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.