{"id":21103101,"url":"https://github.com/robotnikautomation/rbkairos_sim","last_synced_at":"2026-01-02T06:10:58.089Z","repository":{"id":26339823,"uuid":"106810690","full_name":"RobotnikAutomation/rbkairos_sim","owner":"RobotnikAutomation","description":"RB-Kairos ROS simulation packages","archived":false,"fork":false,"pushed_at":"2024-05-03T12:10:25.000Z","size":654,"stargazers_count":25,"open_issues_count":4,"forks_count":8,"subscribers_count":7,"default_branch":"melodic-devel","last_synced_at":"2025-01-21T03:11:23.506Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"CMake","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,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2017-10-13T10:25:41.000Z","updated_at":"2024-12-24T22:26:29.000Z","dependencies_parsed_at":"2024-11-19T23:57:49.612Z","dependency_job_id":"83d96c64-e691-4794-bc21-74691576473f","html_url":"https://github.com/RobotnikAutomation/rbkairos_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%2Frbkairos_sim","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frbkairos_sim/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frbkairos_sim/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/RobotnikAutomation%2Frbkairos_sim/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/RobotnikAutomation","download_url":"https://codeload.github.com/RobotnikAutomation/rbkairos_sim/tar.gz/refs/heads/melodic-devel","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":243546596,"owners_count":20308536,"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":"2024-11-19T23:57:42.201Z","updated_at":"2026-01-02T06:10:58.020Z","avatar_url":"https://github.com/RobotnikAutomation.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# rbkairos_sim\n\nPackages for the simulation of the RB-Kairos.\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"doc/rbkairos.png\" height=\"275\" /\u003e\n\u003c/p\u003e\n\n## Packages\n\n### rbkairos_gazebo\n\nThis package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.\n\n### rbkairos_sim_bringup\n\nLaunch files that launch the complete simulation of the robot/s.\n\n\n## Installation\n\n### 1) Install the following dependencies:\n\nThis simulation has been tested using Gazebo 9.19 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\n\ncd catkin_ws\n\nvcs import --input \\\n https://raw.githubusercontent.com/RobotnikAutomation/rbkairos_sim/melodic-devel/repos/rbkairos_sim.repos\n\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## Bringup\n\n\n```\nroslaunch rbkairos_sim_bringup rbkairos_complete.launch\n```\n\nThis launch files runs Gazebo and the ROS controllers to work with the RB-KAIROS robot. This launch accepts multiple parameters to work with.\n\nBy default it runs a full world with all the standard packages for navigation, localization and manipulation.\n\nIf you want to launch Moveit you have to run:\n\n\n```\nroslaunch rbkairos_sim_bringup rbkairos_complete.launch moveit_movegroup_a:=true\n```\n\n\nThe default configuration will load a RB-Kairos + UR5 + EGH gripper. Other configurations are also available.\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\n\n```bash\ngit clone https://github.com/RobotnikAutomation/rbkairos_sim.git\ncd rbkairos_sim\ngit checkout melodic-devel\nexport ROS_BU_PKG=\"rbkairos_sim_bringup\"\nexport ROS_BU_LAUNCH=\"rbkairos_complete.launch\"\ncd docker\ndocker compose up\n```","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Frbkairos_sim","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frobotnikautomation%2Frbkairos_sim","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobotnikautomation%2Frbkairos_sim/lists"}