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Gazebo simulation with ZED2 camera

This repository provides a Gazebo simulation of the Navigation and Science Task for the ERC Remote competition.

Prerequisites

Copied from the official repository of the European Rover Challenge Remote Edition GitHub: https://github.com/EuropeanRoverChallenge/ERC-Remote-Navigation-Sim

This repository provides a Gazebo simulation of the Navigation and Science Task for the ERC Remote competition.

The simulation requires ROS (Robot Operating System) and was mainly developed and tested with these distributions:

Other distributions might not work properly so it is recommended to use one of these two setups.
The guide will refer to the distribution of your choice (for example, melodic or noetic) as <distro>.

The rest of the tools used in this guide can be installed with apt:

Building

This repository uses git submodules to link external repositories that contain the ROS packages.
When cloning this repository, add the --recurse-submodules flag to recursively pull the submodules:


or if you have already cloned the repository without this option, clone the submodules using:

Use the rosdep tool to install any missing dependencies. If you are running rosdep for the first time, you might have to first run:

Then, to install the dependencies, type:

Now, use the catkin tool to build the workspace:

Updating

To pull the newest commits and recursively update the submodules, simply type:

If you have already pulled the new commits without the --recurse-submodules flag, you can simply update the submodules:

Make sure you have installed any additional dependencies the new versions of the packages may have pulled by running the rosdep install command again:


And rebuild the workspace:


Launching

Make sure you source the devel space on each terminal session you want to use the simulation on:


To start the simulation and gazebo GUI, type:


To visualize the model in Rviz, type on another terminal session:


Turn on the Image panel in Rviz to show the simulated camera images.

To test teleoperation with a keyboard, you can run the key_teleop node:


To control the Rover using a joystick, type:


The command mapping was set for the Xbox 360 controller and looks like this:

Xbox 360 controller

RB button: enable - hold it to send commands

Left joystick Up/Down: linear velocity

Right Joystick Left/Right: angular velocity

To modify it, you can edit the joy_mapping.yaml file inside the leo_erc_teleop package.

Contents

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