https://github.com/robotnikautomation/rbkairos_sim
RB-Kairos ROS simulation packages
https://github.com/robotnikautomation/rbkairos_sim
Last synced: 6 months ago
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RB-Kairos ROS simulation packages
- Host: GitHub
- URL: https://github.com/robotnikautomation/rbkairos_sim
- Owner: RobotnikAutomation
- Created: 2017-10-13T10:25:41.000Z (over 8 years ago)
- Default Branch: melodic-devel
- Last Pushed: 2024-05-03T12:10:25.000Z (about 2 years ago)
- Last Synced: 2025-01-21T03:11:23.506Z (over 1 year ago)
- Language: CMake
- Homepage:
- Size: 639 KB
- Stars: 25
- Watchers: 7
- Forks: 8
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
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README
# rbkairos_sim
Packages for the simulation of the RB-Kairos.
## Packages
### rbkairos_gazebo
This package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.
### rbkairos_sim_bringup
Launch files that launch the complete simulation of the robot/s.
## Installation
### 1) Install the following dependencies:
This simulation has been tested using Gazebo 9.19 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/rbkairos_sim/melodic-devel/repos/rbkairos_sim.repos
rosdep install --from-paths src --ignore-src -y -r
```
### 3) Compile:
```bash
catkin build
source devel/setup.bash
```
## Bringup
```
roslaunch rbkairos_sim_bringup rbkairos_complete.launch
```
This launch files runs Gazebo and the ROS controllers to work with the RB-KAIROS robot. This launch accepts multiple parameters to work with.
By default it runs a full world with all the standard packages for navigation, localization and manipulation.
If you want to launch Moveit you have to run:
```
roslaunch rbkairos_sim_bringup rbkairos_complete.launch moveit_movegroup_a:=true
```
The default configuration will load a RB-Kairos + UR5 + EGH gripper. Other configurations are also available.
## 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
```bash
git clone https://github.com/RobotnikAutomation/rbkairos_sim.git
cd rbkairos_sim
git checkout melodic-devel
export ROS_BU_PKG="rbkairos_sim_bringup"
export ROS_BU_LAUNCH="rbkairos_complete.launch"
cd docker
docker compose up
```