[TOC]
├── scout_control
├── scout_description
└── scout_gazebo_sim
scout_gazebo_sim：The folder is gazebo simulation function package
scout_control: The folder is simulation controller function package
scout_description: The folder is the function package of model file
ubuntu 18.04 + ROS Melodic desktop full
Download and install ros-control function package, ros-control is the robot control middleware provided by ROS
sudo apt-get install ros-melodic-ros-control
Download and install ros-controllers function package, ros-controllers are the kinematics plug-in of common models provided by ROS
sudo apt-get install ros-melodic-ros-controllers
Download and install gazebo-ros function package, gazebo-ros is the communication interface between gazebo and ROS, and connect the ROS and Gazebo
sudo apt-get install ros-melodic-gazebo-ros
Download and install gazebo-ros-control function package, gazebo-ros-control is the communication standard controller between ROS and Gazebo
sudo apt-get install ros-melodic-gazebo-ros-control
Download and install joint-state-publisher-gui package.This package is used to visualize the joint control.
sudo apt-get install ros-melodic-joint-state-publisher-gui
Download and install teleop-twist-keyboard function package, telop-twist-keyboard is keyboard control function package, the robot can be controlled to move forward, left, right and backward through "i", "j", "l",and "," on the keyboard
sudo apt-get install ros-melodic-teleop-twist-keyboard
Open a new terminal and create a workspace named scout_ws, enter in the terminal:
mkdir scout_ws
Enter the scout_ws folder
cd scout_ws
Create a folder to store function package named src
mkdir src
Enter the src folder
cd src
Initialize folder
catkin_init_workspace
Download simulation model function package
git clone https://github.com/agilexrobotics/ugv_sim/scout.git
Enter the scout_ws folder
cd scout_ws
Confirm whether the dependency of the function package is installed
rosdep install --from-paths src --ignore-src -r -y
Compile
catkin_make
Enter the scout_ws folder
cd scout_ws
Declare the environment variable
source devel/setup.bash
Run the start file of scout_v2 model and visualize the model in Rviz
roslaunch scout_description display_scout_v2.launch
Run the start file of scout_mini model and visualize the model in Rviz
roslaunch scout_description display_scout_mini.launch
3. Start the gazebo simulation environment of scout_v2 and scout_mini and control scout_v2 and scout_mini movement in the gazebo
Enter the scout_ws folder
cd scout_ws
Declare the environment variable
source devel/setup.bash
Start the simulation environment of scout_v2
roslaunch scout_gazebo_sim scout_empty_world.launch
#Control by keyboard, the scout2.0 and scout_mini can be controlled to move forward, left, right and backward through "i", "j", "l",and "," on the keyboard
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Start the simulation environment of scout_mini
roslaunch scout_gazebo_sim scout_mini_playpen.launch
#Control by keyboard, the scout2.0 and scout_mini can be controlled to move forward, left, right and backward through "i", "j", "l",and "," on the keyboard
rosrun teleop_twist_keyboard teleop_twist_keyboard.py