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Run a ROS application with catkin and simulation in Gazebo

This document describes how to set up the environment to run a CORC app with ROS support and a Gazebo simulation. It is assumed that the target and host are the same (no cross-compilation).

This simulation is written for X2 only, and is supported on Ubuntu 18.04 and with ROS Melodic.

Note: It is possible to run this on Ubuntu 20.04 with ROS Noetic, however, installation instructions will be different (installing the Noetic rather than Melodic packages below)

Dependencies

Install ROS and Catkin tools

If you haven't already installed ROS on your system, first install ROS Melodic.

Update your Debian package index:

$ sudo apt update

Install ROS Melodic Desktop-Full:

$ sudo apt install ros-melodic-desktop-full

Install Catkin tools:

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install python-catkin-tools

Note: On Ubuntu 20.04/ROS Noetic, python3-catkin-tools is required instead

Install ros_control:

$ sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers

The following packages are also required for the simulation. If you don't have access to them, email baris.kucuktabak@u.northwestern.edu

Build

Create a catkin workspace if you don't have one yet:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin build

Clone CORC and the required packages into your workspace:

$ cd ~/catkin_ws/src
$ git clone https://github.com/UniMelbHumanRoboticsLab/CANOpenRobotController.git
$ git clone https://github.com/emekBaris/x2_description.git
$ git clone https://github.com/emekBaris/cob_gazebo_plugins.git

Make sure USE_ROS flag is set to ON in CMakeLists.txt: set(USE_ROS ON)

If you will test on the real robot: set(NO_ROBOT OFF)

If you would like to do a simulation: set(NO_ROBOT ON)

Set your state machine that uses ROS (e.g., X2DemoMachine): set (STATE_MACHINE_NAME "X2DemoMachine")

Select your robot model in the launch file launch\x2_sim.launch to match a model defined in config\x2_params.xml, for example: <arg name="robot_name" default="X2_SRA_A"/>

Build CORC:

$ cd ~/catkin_ws
$ catkin build CORC
$ source devel/setup.bash

Note: On Ubuntu 20.04/ROS Noetic, we have found that you need to comment out the #include <cob_gazebo_ros_control/hwi_switch_robot_hw_sim.h> and #include <gazebo_ros_control/gazebo_ros_control_plugin.h> lines in cob_gazebo_plugins/cob_gazebo_ros_control/include/cob_gazebo_ros_control/hwi_switch_robot_hw_sim.h before running catkin build CORC once, before uncommenting them and running them again. We are not sure why at this stage.

Run

On real robot:

$ roslaunch CORC x2_real.launch

Simulation:

$ roslaunch CORC x2_sim.launch