Volta
ROS packages used to run the Volta in simulation
- volta_simulation - Gazebo simulation world file.
Steps to Launch Volta:
1. Launching a Gazebo Simulation environment
- To bring up a gazebo world, launch the gazebo node by running:
$ roslaunch volta_simulation gazebo.launch
- Once the gazebo simulation environment is launched, run the following to spawn the Volta robot:
$ roslaunch volta_simulation simulation.launch
- For visualization, launch rviz by running:
$ rosrun rviz rviz
The configuration file, volta.rviz which is located under volta_description->rviz_params, can be opened in the rviz tool to load the volta configured rviz environment
- In order to start the teleoperation node using keyboard, run the following: :
$ roslaunch volta_teleoperator volta_teleoperator.launch keyboard:=true
- To launch the joystick node, set the keyboard argument to False (Default case:= false) or run the following:
$ roslaunch volta_teleoperator volta_teleoperator.launch
2. Mapping an environment with Volta
- Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the mapping node can be launched by running:
$ roslaunch volta_navigation navigation.launch gmapping:=true
- This will launch the gmapping node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz
You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool
- In order to control the robot, launch the teleoperation node by running:
$ roslaunch volta_teleoperator teleoperator.launch keyboard:=true
- Once the mapping of the entire environment is completed, the map can be saved by running:
$ roslaunch map_server map_saver –f <filename>
3. Navigation with Volta
- Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the navigaation node can be launched by running:
$ roslaunch volta_navigation navigation.launch
- This will launch the navigation node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz
You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool
Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map