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https://github.com/wyllduck/simulation_model2gazebo

This simulation works using Gazebo and ROS. The aim is to create a framework with which to implement different vehicles easily, to start the a drone will be implemented. The simulation of their physics will be executed on a C++ node which communicates with Gazebo the new state of the vehicle. To top it off, sensors like cameras, lidars, ultra sound and more can be added using the classical URDF sensor plugins.
https://github.com/wyllduck/simulation_model2gazebo

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This simulation works using Gazebo and ROS. The aim is to create a framework with which to implement different vehicles easily, to start the a drone will be implemented. The simulation of their physics will be executed on a C++ node which communicates with Gazebo the new state of the vehicle. To top it off, sensors like cameras, lidars, ultra sound and more can be added using the classical URDF sensor plugins.

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README 

        
#### Fell free to improve the documentation on this project! [Need Help? Tips on how to modify README.md files here!](https://github.com/adam-p/markdown-here/wiki/Markdown-Cheatsheet)



# USEFULL TIPS:

### Close all the ROS & Gazebo processes:

```

killall -9 gazebo & killall -9 gzserver  & killall -9 gzclient

killall -9 rosmaster

killall -9 roscore

```



### Purge all python compile files:

```

find . -name '*.pyc' -delete

```



# FIRST STEPS TO MAKE YOUR _**GAZEBO_ROS**_ PROJECT: 

### Create a _**catkin workspace**_:

  * ``` mkdir -p ~/CATKIN_WORSPACE_NAME/src```

  * ``` cd ~/CATKIN_WORKSPACE_NAME/ ```

  * ``` catkin_make ```



### Once your _catkin workspace_ has been created navigate to the _**src**_ folder to create your first package.

### Create an empty package :

  * ``` catkin_create_pkg NAME_PROJECT ```

 



### Edit _**package.xml**_ and create you first _.launch_ file : 

 ![#f03c15](https://placehold.it/15/f03c15/000000?text=+) If you don't do this steps the _world models_ you create will be unaccessible from your **gazebo_ros** project

  * Add this this term in the _**package.xml**_ file inside the _tag_ **package**. This allows **Gazebo** to access the meshes saved on your package, inside the folder _meshes_. _It's preferably to add this lines at the end of the file_. 

  ``` xml

  

  ...

    

      

      

    

  

  ```

  * Use this _.launch_ file as a template for others: 



  ![#1589F0](https://placehold.it/15/1589F0/000000?text=+) This way every time you create a new _.launch_ file you won't forget to add this two *critical lines*



  ```xml

  

    ...

    

    

    ...

  

  ```



# USEFUL COMMAND FOR ROS:



### This command runs a ROS .launch file from the **_gazebo_ros_** package, additionaly **_roslaunch_** is passing arguments: _( The arguments can change form file to file )._

  * ``` roslaunch gazebo_ros empty_world.launch paused:=true use_sim_time:=false gui:=true throttled:=false recording:=false debug:=true verbose:=true ```



# .launch FILES:



### This a simple .launch program that opens a .world file. World files define the spaces in which we simulate our robots. 

```xml



  

     

    

    

    

    

    

  



```

### We are importing _**empty_world.launch**_ because the package _**gazebo_ros**_ already defines the basic function of the world.

```xml



```

### When it's time to pass the parameters to the _**empty_world.launch**_ file we change the _*world_name*_ argument to the one of the file we want to open. (Note: You must set the path to the file in relation to the directory you are working from, ROS has different tools to help you with this).

```xml

 

```



# RECOMMENDATIONS:

### By adding this snippet at the beginning of your file the editor will automaticly set the type to _**XML**_ saving you time and making the code easier to read. 

```xml



```

### Caution with this: 

  * When writting code on any **XML** _(.world, .launch, .urdf, ...)_ file remember to name links with different names. For instances the **SDF** files, that are responsible for diffining the maps, were not responding accordingly to what was expected because all the tags _link_ had the same name. This meant that all the cones concured in the same position. The _**Visual Studio Code**_ marketapp _**Insert Numbers**_ help to speed up the process of name each link _tag_.



# SOURCES AND OTHER INFORMATION:

| Website        | Links           | Sujects converd  |

| :------------- |:-------------| :-------------|

| Gazebo Tutorials      | http://gazebosim.org/tutorials/?tut=ros_roslaunch | roslaunch, world files, urdf models |

| Gazebo Tutorials       | http://gazebosim.org/tutorials?tut=build_world&cat=build_world      |   edit world files,  save world files |

| Gazebo Tutorials    | http://gazebosim.org/tutorials/?tut=ros_urdf#Nextsteps      |   udrf models |

| Gazebo Tutorials    | http://gazebosim.org/tutorials?tut=ros_gzplugins      |    plugins|

| ROS Tutorials | http://wiki.ros.org/roslaunch/XML | launch files |

| ROS Tutorials | http://wiki.ros.org/urdf/XML/Transmission | urdf Transmisions |

| ROS Tutorials | http://wiki.ros.org/controller_manager | controller manager |