https://github.com/chapulina/dolly
🤖🐑 It's a sheep, it's a dolly, it's a following robot. Dolly was born to be cloned.
https://github.com/chapulina/dolly
differential-drive follower gazebo hacktoberfest ignition-gazebo ignition-robotics robot robotics robotics-simulation ros ros2 sheep
Last synced: about 2 months ago
JSON representation
🤖🐑 It's a sheep, it's a dolly, it's a following robot. Dolly was born to be cloned.
- Host: GitHub
- URL: https://github.com/chapulina/dolly
- Owner: chapulina
- License: apache-2.0
- Created: 2019-03-24T00:04:30.000Z (about 6 years ago)
- Default Branch: galactic
- Last Pushed: 2024-03-14T00:17:05.000Z (about 1 year ago)
- Last Synced: 2025-04-02T04:08:34.771Z (about 2 months ago)
- Topics: differential-drive, follower, gazebo, hacktoberfest, ignition-gazebo, ignition-robotics, robot, robotics, robotics-simulation, ros, ros2, sheep
- Language: C++
- Homepage:
- Size: 68.7 MB
- Stars: 235
- Watchers: 6
- Forks: 65
- Open Issues: 9
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
[](https://github.com/chapulina/dolly/actions/workflows/ci.yml)
# Dolly the robot
_It's a sheep, it's a dolly, it's a following robot. Born to be cloned._
Packages for launching Dolly demo, which uses ROS 2 and either
[Gazebo](https://gazebosim.org) or [Ignition](https://ignitionrobotics.org).
Gazebo | Ignition
-- | --
 | 
## Versions
Dolly is known to work on the following systems.
Branch | ROS | Gazebo-classic | Ignition | OS
-- | -- | -- | -- | --
[crystal](https://github.com/chapulina/dolly/tree/crystal) | Crystal | Gazebo 9 | :x: | Ubuntu Bionic
[dashing](https://github.com/chapulina/dolly/tree/dashing) | Dashing | Gazebo 9 | :x: | Ubuntu Bionic, macOS Sierra
[eloquent](https://github.com/chapulina/dolly/tree/eloquent) | Eloquent | Gazebo 9, Gazebo 11 | Citadel | Ubuntu Bionic
[foxy](https://github.com/chapulina/dolly/tree/foxy) | Foxy | Gazebo 11 | Citadel | Ubuntu Focal
[galactic](https://github.com/chapulina/dolly/tree/galactic) | Galactic, Rolling | Gazebo 11 | Edifice, Fortress | Ubuntu Focal
## Packages
This repository contains the following packages:
* `dolly`: Metapackage which provides all other packages.
* `dolly_follow`: Provides node with follow logic.
* `dolly_gazebo`: Robot model, simulation world and launch scripts for Gazebo-classic.
* `dolly_ignition`: Robot model, simulation world and launch scripts for Ignition.
* `dolly_tests`: Simulation-based automated tests
## Install
It's encouraged that you build Dolly from source, to learn about how to
develop your own packages. But in case you just want to give it a quick
try, there are binaries available too.
### From binaries
Dolly has been released into several ROS distros. These are the currently
supported ones:
| ROS | Packages |
|----------|--------------------------------|
| Foxy | `ros-foxy-dolly` |
| | `ros-foxy-dolly-follow` |
| | `ros-foxy-dolly-gazebo` |
| | `ros-foxy-dolly-ignition ` |
| Galactic | `ros-galactic-dolly` |
| | `ros-galactic-dolly-follow` |
| | `ros-galactic-dolly-gazebo` |
| | `ros-galactic-dolly-ignition ` |
| Rolling | `ros-rolling-dolly` |
| | `ros-rolling-dolly-follow` |
| | `ros-rolling-dolly-gazebo` |
| | `ros-rolling-dolly-ignition ` |
### From source
Install instructions for Ubuntu Bionic.
1. Install at least one simulator,
[Gazebo](http://gazebosim.org/tutorials?cat=install) or
[Ignition](https://ignitionrobotics.org/docs/edifice/install)
1. Install the appropriate ROS 2 version as instructed
[here](https://index.ros.org/doc/ros2/Installation/Linux-Install-Debians/).
1. Clone Dolly, choose the branch according to your ROS distro:
mkdir -p ~/ws/src
cd ~/ws/src
git clone https://github.com/chapulina/dolly -b
1. Install dependencies:
cd ~/ws
rosdep install --from-paths src --ignore-src -r -y
1. Build and install:
cd ~/ws
colcon build
## Run
### Gazebo-classic
If you had Gazebo installed when compiling Dolly's packages, Gazebo support
should be enabled.
1. Setup environment variables (the order is important):
. /usr/share/gazebo/setup.sh
. ~/ws/install/setup.bash
> *Tip*: If the command `ros2 pkg list | grep dolly_gazebo` comes up empty
after setting up the environment, Gazebo support wasn't correctly setup.
1. Launch Dolly in a city (this will take some time to download models):
ros2 launch dolly_gazebo dolly.launch.py world:=dolly_city.world
1. Launch Dolly in an empty world:
ros2 launch dolly_gazebo dolly.launch.py world:=dolly_empty.world
### Ignition
1. Setup environment variables:
. ~/ws/install/setup.bash
> *Tip*: If the command `ros2 pkg list | grep dolly_ignition` comes up empty
after setting up the environment, Ignition support wasn't correctly setup.
1. Launch Dolly in a station:
ros2 launch dolly_ignition dolly.launch.py
## Featured
* QConSF 2018
* 🎥 [Open Source Robotics: Hands on with Gazebo and ROS 2](https://www.youtube.com/watch?v=Gwbk6Qf_TqY)
* ⌨️ [Source code](https://github.com/chapulina/simslides/tree/QConSF_Nov2018)
* InfoQ
* 📰 [Open Source Robotics: Getting Started with Gazebo and ROS 2](https://www.infoq.com/articles/ros-2-gazebo-tutorial/)
* The Construct's ROS tutorials
* 🎥 [ROS Developers LIVE Class #70: How to Control a Robot with ROS2 (Dashing)](https://www.youtube.com/watch?v=qB4SaP3TZog)
* 🎥 [ROS Developers Live Class n.71: How to visualize sensor data in ROS2](https://www.youtube.com/watch?v=s3fBGSpmER0)
* 🎥 [Exploring ROS2 with wheeled robot - #1 - Launch ROS2 Simulation](https://www.youtube.com/watch?v=T4iRJqESQAk)
* 🎥 [Exploring ROS2 with wheeled robot - #2 - How to subscribe to ROS2 laser scan topic](https://www.youtube.com/watch?v=2-qO79V_Cik)
* 🎥 [Exploring ROS2 using wheeled Robot - #3 - Moving the Robot](https://www.youtube.com/watch?v=SinvFQ9Vobg)
* ROSConJP 2019
* 🎥 [これからのGazebo: ROSのシミュレーションの次世代](https://vimeo.com/370247782)
* ⌨️ [Source code](https://github.com/chapulina/rosconjp_2019)
* ROS Developers Day 2020
* 🎥 [Hands-on with Ignition and ROS2 | ROSDevDay2020 Trailer #1](https://www.youtube.com/watch?v=VO0ZUrr7ib8)
* 🎥 [Hands-on with Ignition and ROS2](https://youtu.be/nLp4uzN5NMs?t=622)