New Simulation

simulation/README.md

@@ -1,25 +1,25 @@
-Installing Gazebo 4
-===================
-Execute out the following commands on the terminal  
-```bash
-codename=`lsb_release -sc`
-sudo sh -c "echo \"deb http://packages.osrfoundation.org/gazebo/ubuntu ${codename} main\" > /etc/apt/sources.list.d/gazebo-latest.list"
-wget  http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-sudo apt-get update
-sudo apt-get remove ros-${ROS_DISTRO}-simulators libsdformat1
-
-sudo apt-get install gazebo4 ros-${ROS_DISTRO}-gazebo4-ros-pkgs ros-${ROS_DISTRO}-gazebo4-ros-control
-
-sudo apt-get install ros-${ROS_DISTRO}-desktop ros-${ROS_DISTRO}-perception
-```
-
-The following packages can also be installed if needed  
-```bash
-sudo apt-get install ros-${ROS_DISTRO}-controller-manager ros-${ROS_DISTRO}-ackermann-msgs ros-${ROS_DISTRO}-effort-controllers ros-${ROS_DISTRO}-joint-state-controller ros-${ROS_DISTRO}-map-server ros-${ROS_DISTRO}-robot-pose-ekf
-```
-
-add the following line to ~/.bashrc if not already there  
-```bash
-source /usr/share/gazebo/setup.sh
-```
+# agv_simulation
+
+Simulator for new bot.
+
+Sensors added and the topics they publish to:
+*	Camera : /eklavya/image_raw
+*	Lidar  : /eklavya/laser/scan
+*	IMU   :  /eklavya/imu
+*	GPS   : /eklavya/gps/fix
+
+
+Files where respective sensor topics are defined:
+*	Camera : eklavya5_description/robot/chasisss.urdf.xacro
+*	Lidar: eklavya5_description/robot/chasisss.urdf.xacro
+*	IMU : eklavya5_description/sensors/imusensor_gazebo.urdf.xacro
+*	GPS : eklavya5_description/sensors/hector_gps_gazebo.urdf.xacro
+
+
+Note: Plugin for GPS is a custom plugin, hence the package "eklavya5_gazebo_plugins" has to be built for the GPS to work.
+
+
+The simulator is launch by:
+
+roslaunch eklavya5_gazebo eklavya_igvc_final.launch
 

simulation/eklavya5_description/launch/description.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+
+<param name="robot_description"
+         textfile="$(find eklavya5_description)/robots/chasisss.urdf" />
+ <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+        <param name="publish_frequency" type="double" value="30.0" />
+    </node>
+</launch>

simulation/eklavya5_description/launch/display.launch

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<launch>
+  <arg
+    name="model" />
+  <arg
+    name="gui"
+    default="True" />
+  <param
+    name="robot_description"
+    textfile="$(find eklavya5_description)/robots/chasisss.URDF" />
+  <param
+    name="use_gui"
+    value="$(arg gui)" />
+  <node
+    name="joint_state_publisher"
+    pkg="joint_state_publisher"
+    type="joint_state_publisher" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find eklavya5_description)/urdf.rviz" />
+</launch>

simulation/eklavya5_description/launch/gazebo.launch

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<launch>
+  <include
+    file="/opt/ros/indigo/share/gazebo_ros/launch/empty_world.launch" />
+  <param name="robot_description" textfile="$(find eklavya5_description)/robots/chasisss.urdf"/>
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 chassis base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find eklavya5_description)/robots/chasisss.urdf -urdf -model chasisss"
+    output="screen" />
+  <include
+    file="$(find pr2_controller_manager)/controller_manager.launch" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

simulation/eklavya_description/launch/view_model.launch → simulation/eklavya5_description/launch/view_model.launch

@@ -3,12 +3,10 @@
   <arg name="front_laser" default="true" />
 
   <!-- Standalone launcher to visualize the robot model. -->
-  <include file="$(find eklavya_description)/launch/description.launch">
-    <arg name="front_laser" value="$(arg front_laser)" />
-  </include>
-
+  <!--<include file="$(find eklavya5_description)/launch/description.launch"/> -->
+
   <param name="use_gui" value="true" />
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
 
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find eklavya_description)/rviz/model.rviz" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find eklavya5_description)/urdf.rviz" />
 </launch>

simulation/eklavya5_description/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package>
+  <name>eklavya5_description</name>
+  <version>0.0.1</version>
+  <description>chasissssss welded.SLDASM</description>
+  <maintainer email="[email protected]">Manuj Agrawal</maintainer>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>gazebo</build_depend>
+  <build_depend>gazebo_ros</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>gazebo</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <author>me</author>
+  <license>BSD</license>
+</package>