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labrobotica
ros
robots
dabo
iri_dabo_how_to
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64fafa07
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64fafa07
authored
5 years ago
by
Fernando Herrero
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@@ -18,70 +18,53 @@ whenever you need to use the robot.
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@@ -18,70 +18,53 @@ whenever you need to use the robot.
A Gazebo model for the platform and all its sensors is provided to speed up the testing
A Gazebo model for the platform and all its sensors is provided to speed up the testing
process.
process.
To set up the simulator, please follow the next steps:
*
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
)
.
*
Install the following system dependencies:
*
Copy the dabo_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
```
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:
*
Create a new workspace following the steps in this
[
tutorial
](
http://wiki.ros.org/catkin/Tutorials/create_a_workspace
)
.
*
Copy the dabo_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
the dabo_sim.rosinstall file available on this repository. From the src folder, execute:
the dabo_sim.rosinstall file available on this repository. From the src folder, execute:
```
roscd
cd ../src
wstool init dabo_sim.rosinstall
```
```
*
If you want to use an existing ROS workspace:
roscd
cd ../src
wstool init dabo_sim.rosinstall
```
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.
*
Merge the dabo_sim.rosinstall file available on this repository with the existing rosinstall file following the steps
*
Merge the dabo_sim.rosinstall file available on this repository with the existing rosinstall file following the steps
in this
[
tutorial
](
http://wiki.ros.org/wstool#Merge_in_Additional_rosinstall_Files
)
. From the src folder, execute:
in this
[
tutorial
](
http://wiki.ros.org/wstool#Merge_in_Additional_rosinstall_Files
)
. From the src folder, execute:
```
```
roscd
roscd
cd ../src
cd ../src
wstool merge dabo_sim.rosinstall
wstool merge dabo_sim.rosinstall
```
```
*
Download the simulator packages by executing the following command from the src folder:
```
*
Download the simulator packages by executing the following command from the src folder:
wstool update
```
```
*
Install dependencies:
wstool update
```
```
roscd
cd ../src
*
Compile the newly downloaded packages with the following command:
rosdep install -i --from-paths . -r
```
```
*
Compile the newly downloaded packages with the following command:
cd ..
```
catkin_make
cd ..
```
catkin_make
```
Once the setup process is complete, start the simulator with the following command:
*
Launch: once the setup process is complete, start the simulator with the following command:
```
```
roslaunch iri_dabo_gazebo sim_sample.launch
roslaunch iri_dabo_gazebo sim_sample.launch
```
```
This command should launch the robot with all its sensors in an empty environment with the RVIZ pre-configured to show all
This command should launch the robot with all its sensors in an empty environment with the RVIZ pre-configured to show all
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
](
).
# How to use the real robot
# How to use the real robot
...
## What to do next
## What to do next
...
...
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