{"id":21103138,"url":"https://github.com/robotnikautomation/rb_theron_sim","last_synced_at":"2025-12-28T19:15:11.790Z","repository":{"id":141531241,"uuid":"394905340","full_name":"RobotnikAutomation/rb_theron_sim","owner":"RobotnikAutomation","description":null,"archived":false,"fork":false,"pushed_at":"2024-01-04T14:30:28.000Z","size":126,"stargazers_count":4,"open_issues_count":5,"forks_count":5,"subscribers_count":4,"default_branch":"noetic-devel","last_synced_at":"2025-01-21T03:11:23.640Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Dockerfile","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/RobotnikAutomation.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2021-08-11T07:39:38.000Z","updated_at":"2024-07-05T08:15:28.000Z","dependencies_parsed_at":null,"dependency_job_id":"626ea4eb-2719-452c-91e2-0fa008280872","html_url":"https://github.com/RobotnikAutomation/rb_theron_sim","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frb_theron_sim","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frb_theron_sim/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frb_theron_sim/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frb_theron_sim/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/RobotnikAutomation","download_url":"https://codeload.github.com/RobotnikAutomation/rb_theron_sim/tar.gz/refs/heads/noetic-devel","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":243546602,"owners_count":20308537,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-19T23:57:49.832Z","updated_at":"2025-12-28T19:15:06.765Z","avatar_url":"https://github.com/RobotnikAutomation.png","language":"Dockerfile","funding_links":[],"categories":[],"sub_categories":[],"readme":"# rb_theron_sim\n\n=============\n\nPackages for the simulation of the RB-Theron\n\n\u003ch1\u003e Packages \u003c/h1\u003e\n\n\u003ch2\u003erb_theron_gazebo\u003c/h2\u003e\n\nLaunch files and world files to start the models in gazebo\n\n\u003ch2\u003erb_theron_sim_bringup\u003c/h2\u003e\n\nLaunch files that launch the complete simulation of the robot\n\n\n\n\u003ch1\u003eSimulating RB-Theron\u003c/h1\u003e\n\n### 1) Install the following dependencies:\n\nThis simulation has been tested using Gazebo 9 version. To facilitate the installation you can use the vcstool:\n\n```bash\nsudo apt-get install -y python3-vcstool\n```\n\n### 2) Create a workspace and clone the repository:\n\n```bash\nmkdir catkin_ws\ncd catkin_ws\nvcs import --input \\\n  https://raw.githubusercontent.com/RobotnikAutomation/rb_theron_sim/noetic-devel/repos/rb_theron_sim.repos\nrosdep install --from-paths src --ignore-src -y -r\n```\n\n### 3) Compile:\n\n```bash\ncatkin build\nsource devel/setup.bash\n```\n\n\n### 4) Launch RB-Theron simulation (1 robot by default, up to 3 robots):\n- RB-Theron:\n\n```bash\nroslaunch rb_theron_sim_bringup rb_theron_complete.launch\n```\n\n### 5) Launch RB-Theron Omni simulation (1 robot by default, up to 3 robots):\n- RB-Theron Omni:\n\n```bash\nroslaunch rb_theron_sim_bringup rb_theron_complete.launch xacro_robot:=rb_theron_omni.urdf.xacro ros_planar_move_plugin:=true odom_model_type:=omni\n```\n\n\n## Docker Usage\n\nIn order to run this simulation you will need nvidia graphical accelation\n\n### Installation of required files\n\n- [docker](https://docs.docker.com/engine/install/ubuntu/)\n- [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker)\n- nvidia-drivers\n\n### Usage for RB-Theron simulation (1 robot by default, up to 3 robots):\n\n```bash\ngit clone https://github.com/RobotnikAutomation/rb_theron_sim.git\ncd rb_theron_sim\ngit checkout noetic-devel\ncd docker\nexport ROS_BU_PKG=\"rb_theron_sim_bringup\"\nexport ROS_BU_LAUNCH=\"rb_theron_complete.launch\"\ndocker compose up\n```\n\n### Usage for RB-Theron Omni simulation (1 robot by default, up to 3 robots):\n\n```bash\ngit clone https://github.com/RobotnikAutomation/rb_theron_sim.git\ncd rb_theron_sim\ngit checkout noetic-devel\ncd docker\nexport ROS_BU_PKG=\"rb_theron_sim_bringup\"\nexport ROS_BU_LAUNCH=\"rb_theron_complete.launch xacro_robot:=rb_theron_omni.urdf.xacro ros_planar_move_plugin:=true odom_model_type:=omni\"\ndocker compose up\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Frb_theron_sim","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frobotnikautomation%2Frb_theron_sim","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Frb_theron_sim/lists"}