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Commit dc05bc3e authored by Sergi Hernandez's avatar Sergi Hernandez
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Completed the simulation part of the README. 

Moved the low level description out of this README.
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README.md
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...@@ -31,10 +31,6 @@ and are placed on top of a custom pan&tilt platform. ...@@ -31,10 +31,6 @@ and are placed on top of a custom pan&tilt platform.
A fully featured gazebo model is also provided to test the robot in simulation. A fully featured gazebo model is also provided to test the robot in simulation.
# Robot description
# Procedures # Procedures
Here are the basic precedures to use the robot. Please follow them carefully Here are the basic precedures to use the robot. Please follow them carefully
...@@ -44,50 +40,6 @@ whenever you need to use the robot. ...@@ -44,50 +40,6 @@ whenever you need to use the robot.
* Battery management: * Battery management:
# Dependencies
The required common dependencies for both the simulated and the real Ana robot
are listed below:
* [iri_ana_description](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_description)
In order to use the real robot, the following dependencies are also required:
* [iri_ana_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_bringup)
To build the workspace, make sure to follow the installation and setup
instructions from each of the packages above and their respective dependencies.
In order to use the robot in simulation, the following dependencies are also
required:
* [iri_ana_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_gazebo)
To use the simulator, make sure to follow the installation and setup instructions
from each of the packages above and their respective dependencies.
# Install
All these ROS packages, and their dependencies, can be manually added to the
ROS workspace. A simpler option is to use one of the rosinstall files provided
with this repository:
* real_ana.rosinstall: all the necessary packages to set up the real robot.
* sim_ana.rosinstall: all the necessary packages to use the robot in simulation.
See the [wstool](http://wiki.ros.org/wstool) documentation for more details on
how to initialize the workspace and merge a rosinstall file with it.
# How to use the real robot
To set up and use the real robot, follow the instructions in the
[iri_ana_bringup](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_bringup)
ROS package.
Also, carefully follow the procedures listed above to correctly handle the
robot.
# How to use the simulated robot # How to use the simulated robot
A Gazebo model for the Ana platform and all its sensors is provided to speed up the testing A Gazebo model for the Ana platform and all its sensors is provided to speed up the testing
...@@ -101,20 +53,22 @@ To set up the simulator, please follow the next steps: ...@@ -101,20 +53,22 @@ To set up the simulator, please follow the next steps:
sudo apt-get install ros-kinetic-velodyne-description ros-kinetic-velodyne-gazebo-plugins ros-kinetic-hector-gazebo-plugins sudo apt-get install ros-kinetic-velodyne-description ros-kinetic-velodyne-gazebo-plugins ros-kinetic-hector-gazebo-plugins
``` ```
* If you want to use a new ROS workspace: If you want to use a new ROS workspace:
* create a new workspace following the steps in this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace). * Create a new workspace following the steps in this [tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
* Copy the ana_sim.rosinstall file to the src folder of the new workspace. * Copy the ana_sim.rosinstall file to the src folder of the new workspace.
* Initialize the wstool tool on the src folder following the steps in this [tutorial](http://wiki.ros.org/wstool) using * Initialize the wstool tool on the src folder following the steps in this [tutorial](http://wiki.ros.org/wstool) using
the ana_sim.rosinstall file available on this repository. From the src folder, execute: the ana_sim.rosinstall file available on this repository. From the src folder, execute:
``` ```
roscd
cd ../src
wstool init ana_sim.rosinstall wstool init ana_sim.rosinstall
``` ```
* If you want to use an existing ROS workspace: If you want to use an existing ROS workspace:
* Copy the ana_sim.rosinstall file to the src folder of the existing workspace. * Copy the ana_sim.rosinstall file to the src folder of the existing workspace.
...@@ -122,6 +76,8 @@ wstool init ana_sim.rosinstall ...@@ -122,6 +76,8 @@ wstool init ana_sim.rosinstall
in this [tutorial](http://wiki.ros.org/wstool). From the src folder, execute: in this [tutorial](http://wiki.ros.org/wstool). From the src folder, execute:
``` ```
roscd
cd ../src
wstool merge ana_sim.rosinstall wstool merge ana_sim.rosinstall
``` ```
...@@ -134,7 +90,8 @@ wstool update ...@@ -134,7 +90,8 @@ wstool update
* compile the newly downloaded packages with the following command: * compile the newly downloaded packages with the following command:
``` ```
catkin_make --only-pkg-with-deps iri_ana_gazebo cd ..
catkin_make
``` ```
Once the setup process is complet, start the simulator with the following command Once the setup process is complet, start the simulator with the following command
...@@ -147,14 +104,43 @@ This command should launch the robot with all its sensors in an empty environmen ...@@ -147,14 +104,43 @@ This command should launch the robot with all its sensors in an empty environmen
sensor data. The name and namespace of all topics, services and actions are exactly the same as in the real robot, although sensor data. The name and namespace of all topics, services and actions are exactly the same as in the real robot, although
not all of them are available. not all of them are available.
A complete list of all ROS interfaces is shown here: A complete list of all ROS interfaces is shown [here]().
# How to use the real robot
The robot's on-board computer has all the necessary ROS nodes to operate the robot
and it is fully configured.
IMPORTANT: when using the real robot, make sure you follow all the procedures listed [here]()
to start, operate, shut down and handle the batteries.
There are two ways to connect to the robot using an external computer:
* Wireless: the robot creates a hot spot
* Cable:
Once connected to the same network, configure the external computer following the instructions
in this [tutorial](http://wiki.ros.org/ROS/Tutorials/MultipleMachines).
At this point, you should have acces to all the topic, services and action provided by the robot.
A complete list of all ROS interfaces is shown [here]().
## What to do next ## What to do next
To change the simulated environment edit the [] file and All the tutorial included in this section can be used both in simulation or with the real robot.
* To teleoprate the robot, follow the instructions in this tutorial[]
* To create a map of the simulated environment, follow the instructions in this tutorial[]
* To navigate the robot in the new environment, follow the instructions in this tutorial[]
Some tutorials specific to the simulated robot:
To teleoprate the robot, follow the instructions in this tutorial[] * To change the simulated environment edit the [] file and
To create a map of the simulated environment, follow the instructions in this tutorial[] # Developers
To navigate the robot in the new environment, follow the instructions in this tutorial[] For advanced users and developers, [here]() there is amore in depth information about the Ana robot
and all its dependencies.
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