Gazebo 7 based simulated apartment used during European Robotics League (ERL).
Brought to you by:
- Instituto Superior Tecnico, Lisboa
- Institute for Systems and Robotics (ISR)
- Laboratório de Robótica e Sistemas em Engenharia e Ciência (LARSyS)
- SocRob RoboCup team
To see a video of how the models were textured, you can see this youtube tutorial video part1 part2
This code was tested on Ubuntu 16.04 and ROS kinetic with Gazebo 7
This is how the simulation looks like:
Clone and compile the code into your catkin workspace:
git clone https://github.com/socrob/mbot_simulation_environments.git
catkin build
source ~/.bashrc
Launch only the environment:
roslaunch mbot_simulation_environments load_environment_example.launch
We provide with the following sample Launch file to spawn your own robot inside our ISR tesbed - apartment:
<?xml version="1.0"?>
<launch>
<!-- whether you want gazebo gui or not (saves resources if you set this to false) -->
<arg name="gazebo_gui" default="false" />
<!-- select your world -->
<arg name="world_name" default="isr-testbed.world" /> <!-- set to "empty.world" for empty world -->
<arg name="world_path" default="$(find mbot_simulation_environments)/worlds" /> <!-- set to "worlds" empty world -->
<!-- launch robot environment -->
<include file="$(find mbot_simulation_environments)/launch/load_environment_example.launch" >
<arg name="world_name" value="$(arg world_name)" />
<arg name="world_path" value="$(arg world_path)" />
<arg name="gazebo_gui" value="$(arg gazebo_gui)" />
</include>
<!-- upload URDF model of the robot to parameter server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder $(find your_robot_description)/xacro/my_robot_urdf.urdf.xacro" />
<!-- spawn robot (in a certain position and with a default arm configuration) -->
<node pkg="gazebo_ros" type="spawn_model" name="mbot_spawner"
args="-package_to_model -urdf -model my_robot_name -param robot_description -x 0.5 -y 0.5 -z 0.01
-J left_arm_joint0 0.0
-J left_arm_joint1 1.18
-J left_arm_joint2 0.12
-J left_arm_joint3 0.92
-J left_arm_joint4 0.24
-J left_arm_joint5 0.63
-J left_arm_joint6 0.44" />
</launch>
Enjoy!
If errors, please report bugs by using the issues in this repository