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https://github.com/ajaysjournal/robotics-nanodegree-ws
Udacity Nanodegree: Robotics Software Engineer
https://github.com/ajaysjournal/robotics-nanodegree-ws
gazebo gazebo-simulator ros udacity-nanodegree udacity-robotics-nd
Last synced: about 1 month ago
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Udacity Nanodegree: Robotics Software Engineer
- Host: GitHub
- URL: https://github.com/ajaysjournal/robotics-nanodegree-ws
- Owner: ajaysjournal
- Created: 2021-03-07T17:11:40.000Z (almost 4 years ago)
- Default Branch: master
- Last Pushed: 2023-12-15T01:05:05.000Z (about 1 year ago)
- Last Synced: 2024-10-03T22:06:08.157Z (3 months ago)
- Topics: gazebo, gazebo-simulator, ros, udacity-nanodegree, udacity-robotics-nd
- Language: CMake
- Homepage:
- Size: 1.91 MB
- Stars: 0
- Watchers: 2
- Forks: 1
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Robotics Workspace
- [Robotics Workspace](#robotics-workspace)
- [1. Project 1: Build My World](#1-project-1-build-my-world)
- [1.1. Structure](#11-structure)
- [1.2. Build Instructions](#12-build-instructions)
- [1.2.1. Alternate steps](#121-alternate-steps)
- [2. Project 2: Go Chase It](#2-project-2-go-chase-it)
- [2.1. Structure](#21-structure)
- [2.2. Build Instructions](#22-build-instructions)
- [Alternate steps](#alternate-steps)
# 1. Project 1: Build My World
## 1.1. Structure
Change the directory to project - `cd 1-build-my-world`
```
.
└── 1-build-my-world
├── build.sh # Build Script - Step 1
├── CMakeLists.txt
├── model # Model files
│ ├── area98
│ └── car99
├── README.md
├── run.sh # Run Script - Step 2
├── script # Plugin files
│ └── hello.cpp
└── world # World files
└── my.world
```
## 1.2. Build Instructions
1. Make sure you have the following installed:
- [ROS](http://wiki.ros.org/ROS/Installation)
- Cmake
- gcc/g++
- Git
2. Clone the project
3. Go to the project folder
4. Create a build folder `mkdir build && cd build`
5. Build with cmake `cmake .. && make`
6. Add the build folder to the Gazebo plugin path:
`GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:`.
7. Go back to the project folder
8. Launch Gazebo world `gazebo world/my.world`
### 1.2.1. Alternate steps
1. `source build.sh` -> script builds the prodject like above.
2. Launch the world by using `source run.sh` script.
# 2. Project 2: Go Chase It
Use ROS and Gazebo to build a mobile robot for chasing a white ball.
## 2.1. Structure
**my_robot**: This package defines the world and the robot.
**ball_chaser**: This package contains two ROS nodes for commanding the robot to chase the white ball.
```
robond@udacity:~/robotics-nanodegree-ws/2-go-chase-robot/src$ tree
.
├── ball_chaser
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ball_chaser
│ ├── launch
│ │ └── ball_chaser.launch
│ ├── my_ball
│ │ ├── model.config
│ │ └── model.sdf
│ ├── package.xml
│ ├── src
│ │ ├── drive_bot.cpp
│ │ └── process_image.cpp
│ └── srv
│ └── DriveToTarget.srv
├── CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
├── my_robot
│ ├── CMakeLists.txt
│ ├── launch
│ │ ├── robot_description.launch
│ │ └── world.launch
│ ├── meshes
│ │ └── hokuyo.dae
│ ├── package.xml
│ ├── urdf
│ │ ├── my_robot.gazebo
│ │ └── my_robot.xacro
│ └── worlds
│ ├── aytest2.world
│ ├── aytest.world
│ ├── cafe.world
│ ├── empty.world
│ ├── my.world
│ └── test.world
└── simple_arm
├── CMakeLists.txt
├── config
│ └── controllers.yaml
├── images
│ └── simulation.png
├── launch
│ ├── robot_control.xml
│ ├── robot_description.xml
│ └── robot_spawn.launch
├── LICENSE
├── meshes
│ └── camera.dae
├── package.xml
├── README.md
├── src
│ ├── arm_mover.cpp
│ ├── look_away.cpp
│ └── simple_mover.cpp
├── srv
│ └── GoToPosition.srv
├── urdf
│ ├── simple_arm.gazebo.xacro
│ └── simple_arm.urdf.xacro
└── worlds
└── willow_garage.world
```
## 2.2. Build Instructions
1. Make sure you have the following installed:
- [ROS](http://wiki.ros.org/ROS/Installation)
- Cmake
- gcc/g++
- Git
2. Clone the project
3. Go to the project folder
4. Move back to `catkin_ws\` and build
```
$ cd ..
$ catkin_make
```
5. Launch the world
```
$ source devel/setup.bash
$ roslaunch my_robot world.launch
```
6. Open another terminal (Ctrl+Shift+T), and launch the `ball_chaser` package
```
$ source devel/setup.bash
$ roslaunch ball_chaser ball_chaser.launch
```
7. Pick up the white ball and place in front of the mobile robot. The robot will follow the ball.
### Alternate steps
1. `source build.sh` -> script builds the prodject like above.
2. Launch the world by using `source run-my-robot-world.sh` script.
3. Launch the drive_bot node using `source run-drive-bot-node.sh` script