https://github.com/robotnikautomation/rb_theron_sim
https://github.com/robotnikautomation/rb_theron_sim
Last synced: 6 months ago
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- Host: GitHub
- URL: https://github.com/robotnikautomation/rb_theron_sim
- Owner: RobotnikAutomation
- Created: 2021-08-11T07:39:38.000Z (almost 5 years ago)
- Default Branch: noetic-devel
- Last Pushed: 2024-01-04T14:30:28.000Z (over 2 years ago)
- Last Synced: 2025-01-21T03:11:23.640Z (over 1 year ago)
- Language: Dockerfile
- Size: 123 KB
- Stars: 4
- Watchers: 4
- Forks: 5
- Open Issues: 5
-
Metadata Files:
- Readme: README.md
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README
# rb_theron_sim
=============
Packages for the simulation of the RB-Theron
Packages
rb_theron_gazebo
Launch files and world files to start the models in gazebo
rb_theron_sim_bringup
Launch files that launch the complete simulation of the robot
Simulating RB-Theron
### 1) Install the following dependencies:
This simulation has been tested using Gazebo 9 version. To facilitate the installation you can use the vcstool:
```bash
sudo apt-get install -y python3-vcstool
```
### 2) Create a workspace and clone the repository:
```bash
mkdir catkin_ws
cd catkin_ws
vcs import --input \
https://raw.githubusercontent.com/RobotnikAutomation/rb_theron_sim/noetic-devel/repos/rb_theron_sim.repos
rosdep install --from-paths src --ignore-src -y -r
```
### 3) Compile:
```bash
catkin build
source devel/setup.bash
```
### 4) Launch RB-Theron simulation (1 robot by default, up to 3 robots):
- RB-Theron:
```bash
roslaunch rb_theron_sim_bringup rb_theron_complete.launch
```
### 5) Launch RB-Theron Omni simulation (1 robot by default, up to 3 robots):
- RB-Theron Omni:
```bash
roslaunch rb_theron_sim_bringup rb_theron_complete.launch xacro_robot:=rb_theron_omni.urdf.xacro ros_planar_move_plugin:=true odom_model_type:=omni
```
## Docker Usage
In order to run this simulation you will need nvidia graphical accelation
### Installation of required files
- [docker](https://docs.docker.com/engine/install/ubuntu/)
- [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker)
- nvidia-drivers
### Usage for RB-Theron simulation (1 robot by default, up to 3 robots):
```bash
git clone https://github.com/RobotnikAutomation/rb_theron_sim.git
cd rb_theron_sim
git checkout noetic-devel
cd docker
export ROS_BU_PKG="rb_theron_sim_bringup"
export ROS_BU_LAUNCH="rb_theron_complete.launch"
docker compose up
```
### Usage for RB-Theron Omni simulation (1 robot by default, up to 3 robots):
```bash
git clone https://github.com/RobotnikAutomation/rb_theron_sim.git
cd rb_theron_sim
git checkout noetic-devel
cd docker
export ROS_BU_PKG="rb_theron_sim_bringup"
export ROS_BU_LAUNCH="rb_theron_complete.launch xacro_robot:=rb_theron_omni.urdf.xacro ros_planar_move_plugin:=true odom_model_type:=omni"
docker compose up
```