How to Run InsperBot on Gazebo

NOTE: This instruction was tested on Linux with Ubuntu 20.04 and ROS1 Noetic.

This is the virtual version of InsperBot, He was built by the technical team of Insper's Computer Engineering laboratory, using as base the Turtlebot3 Burger, the InsperBot is a low cost ROS standard platform robot simulated on Gazebo.

Requeriments

• Ubuntu 20.04
• ROS Noetic
• Opencv4

NOTE: We have a guide for setup your system with this Requirements here

How to Run

clone the repository:

git clone https://github.com/Insper/insperbot.git
cd ~/catkin_ws
catkin_make

Edit .bashrc

Add this lines in your .bashrc

export TURTLEBOT3_MODEL=burger
export LC_NUMERIC="en_US.UTF-8"
export GAZEBO_MODEL_PATH=$HOME/catkin_ws/src/insperbot/models:

Choose one of the scenarios available here or create your own by following this guide

To Enable gripper control

roslaunch insperbot arm_control.launch

How to control the robot’s gripper

Arm (joint1):

Up: 1.5
Forward : 0
Down : -1.5

rostopic pub -1 /joint1_position_controller/command std_msgs/Float64 "data: 0"

Gripper (joint2 and joint3)

Closed: 0
Open: -1
rostopic pub -1 /joint2_position_controller/command std_msgs/Float64 "data: 0"

Past Projects Videos

Virtual robot:

https://www.youtube.com/playlist?list=PLVU3UhXa4-X9ZWrIV37l9ckvalaP5KiE9

Real and virtual robot:

https://www.youtube.com/playlist?list=PLVU3UhXa4-X-qIlNL6NVvIizOXXJkkkU1

INSPER Repositories

Github 2021.1

Github 2020.2

Github 2020.1

Github 2019

Github 2018.2

Github 2018.1

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Authors

Fabio R de Miranda

Arnaldo Alves Viana Junior

Lícia Sales Costa Lima