RDSim: Robo Delivery Simulator

Environment Settings

i) local: Install && build

• Setting GAZEBO_RESOURCE_PATH

echo "export GAZEBO_RESOURCE_PATH=/usr/share/gazebo-11:$GAZEBO_RESOURCE_PATH" >> ~/.bashrc
source ~/.bashrc

• RDSim build

cd ~/ros2_ws/src 
git clone https://github.com/AuTURBO/RDSim.git
cd ~/ros2_ws/src/RDSim/gazebo_sfm_plugin/lightsfm && make && sudo make install
cd ~/ros2_ws && colcon build --symlink-install && source install/local_setup.bash

• Install dependency

sudo apt-get update
sudo apt install ros-humble-robot-localization -y
sudo apt install ros-humble-imu-filter-madgwick -y
sudo apt install ros-humble-controller-manager -y
sudo apt install ros-humble-controller-manager -y
sudo apt install ros-humble-diff-drive-controller -y
sudo apt install ros-humble-imu-filter-madgwick -y
sudo apt install ros-humble-interactive-marker-twist-server -y
# jackal-description 패키지는 아래의 추가 사항 참고
sudo apt install ros-humble-joint-state-broadcaster -y
sudo apt install ros-humble-joint-trajectory-controller -y
sudo apt install ros-humble-joint-state-publisher-gui -y
sudo apt install ros-humble-joy -y
sudo apt install ros-humble-robot-localization -y
sudo apt install ros-humble-robot-state-publisher -y
sudo apt install ros-humble-teleop-twist-joy -y
sudo apt install ros-humble-twist-mux -y

ii) docker

Docker environment tested on Ubuntu 22.04, nvidia

# in rdsim main directory
cd ~/ros2_ws/src/RDSim/docker && ./run_command.sh 

Execute RDSim

Gazebo world launch

Gazebo 맵만 실행시킬 경우

ros2 launch rdsim_gazebo rdsim_gazebo_world.launch.py  

Robot Display launch

Gazebo 없이 로봇의 tf를 확인하고 싶을 경우

ros2 launch rdsim_description rdsim_description.launch.py 

Sim launch

ros2 launch rdsim_description rdsim_gazebo.launch.py 

Jackal Controller launch

ros2 launch jackal_control control.launch.py 

Jackal cmd 2 teleop cmd

ros2 launch jackal_control teleop_base.launch.py 

teleop cmd

cmd_vel을 통해 제어하기 때문에 다음 명령어를 통해 제어할 수 있습니다.

ros2 run teleop_twist_keyboard teleop_twist_keyboard