ROS Real-time Extension

This extension provides real-time support for visualisation, coordination and interaction with a physical robot.

Quick Start

To demonstrate the usage of this extension we will use turtlebot3.

Required ROS packages:

turtlebot3_gazebo
turtlebot3_bringup
turtlebot3_slam
turtlebot3_description
gazebo_ros

The following will launch all necessary ROS nodes with rviz for visualising the robot, and will subsequently launch PathBench with the ROS Map.

python3 src/ros/advanced/main.py --headless --rviz

For more information, run the following, noting that unrecognised arguments in main.py will be forwarded to ros.py.

Example

python3 src/ros/advanced/main.py  --rviz --algorithm "A*" -m waffle

python3 src/ros/advanced/main.py --help
python3 src/ros/advanced/ros.py --help

There seems to be a common issue where Gazebo will hang then crash when opened through PathBench. A current fix is to perform

killall gzserver