husarion-rosbot-2-gazebo-simulation

Husarion ROSbot 2.0 simulation in gazebo and rviz with ORB_SLAM

Brief Explanation

• rosbot_description specifies the entire robot structure as links and joints and can launch the model in rviz.
• rosbot_gazebo launches the model in the gazebo environment and contains different simulation worlds
• learning_joy teleop_joy stick node for teleoperating ROSbot2 with xbox 360 gamepad
• rosbot_navigation launches teleop_keyboard node
• ORB_SLAM contains ORB_SLAM package for ROSbot2

Install gazebo-ros control

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

Simulating ROSbot 2 in Gazebo along with Rviz and ORB_SLAM

Download gazebo_model from the following link:

https://bitbucket.org/osrf/gazebo_models

In a new terminal clone the repositroy

hg clone https://[email protected]/osrf/gazebo_models

After cloning the gazeb0_model, add the following line to your ~./bashrc script.

sudo gedit ~/.bashrc
export GAZEBO_MODEL_PATH=[...]/models:$GAZEBO_MODEL_PATH

For instace, if your clone your gazebo model in your home folder then it should be like this.

export GAZEBO_MODEL_PATH=/home/arslanali/gazebo_models:$GAZEBO_MODEL_PATH

complining the package

In new terminal

mkdir -p ~/catkin_ws/src

cd catkin_ws/src

git clone https://github.com/Marslanali/husarion-rosbot-2-gazebo-simulation.git

catkin_make

Now Load the Gazebo and Rviz simulator in separate terminals using the following commands:

roslaunch rosbot_gazebo rosbot_gazebo_rviz_demo3.launch

Running keyboard teleop:

The ~/catkin_ws/src/rosbot_navigation folder contains the rosbot_teleop.launch file, which contain a teleop node.

Start the teleop node:

roslaunch rosbot_navigation rosbot_teleop.launch

Running Xbox 360 gamepad teleop:

The ~/catkin_ws/src/learning_joy folder contains the turtle_joy.launch file, which contain a turtle_joy node.

roslaunch learning_joy turtle_joy.launch

Getting RGB image to display

rosrun image_view image_view image:=/camera/rgb/image_raw

Simulation screenshots

Fig. 1. Gazebo and Rviz simualtion of ROSbot2

Fig. 2. ORB_SLAM view

Demo Videos

https://www.youtube.com/watch?v=Xm3ef-apk04&t=2s

https://www.youtube.com/watch?v=G2Vk4WQwM2U&t=66s

Running Xbox 360 gamepad teleop:

The ~/catkin_ws/src/learning_joy folder contains the turtle_joy.launch file, which contain a turtle_joy node.

roslaunch learning_joy turtle_jhttps://www.youtube.com/watch?v=G2Vk4WQwM2U&t=66soy.launch

Extra

Running webcame camera node on second laptop and ORB_SLAM subscribe use it in first laptop

For machine 1 (Subscriber and running roscore, ORB_SLAM and, Rviz)

sudo apt-get install ros-kinetic-camera-umd

Now in a new terminal, launch uvc_camera_node with following command

rosrun uvc_camera uvc_camera_node

To view in image_view, run the following commmand

rosrun image_view image_view image:=/image_raw _image_transport:=compressed

For machine 2 publisher running camera node

sudo apt-get install ros-kinetic-camera-umd

Now in a new terminal, launch uvc_camera_node with following command

rosrun uvc_camera uvc_camera_node

To view in image_view, run the following commmand

rosrun image_view image_view image:/=image_raw _image_transport:=compressed

Add the following to your ~/.bashrc script. Replace your ip idress of second machine.

export ROS_MASTER_URI=http://192.168.43.127:11311/

If you face any difficulty, feel free to drop an email at [email protected]