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SOSvr Base Code

Please cite this paper if you use the code in your work. Taher Ahmadi, Sajad Azami

Note: By the end of April 2017, we are going to release base_code version 2.0.

UPDATE(July 2017): This code is now deprecated and replaced with base_code-v2, as promised.

Team SOSvr Virtual Robot Simulation Base Code

This is our base code that can be used to build different robots for performing different tasks and simulate them in 3D with Gazebo. We have used ROS for developing our robot and used P3AT as the robot's model. For setting up this robot refer to the usage section.

Usage

We assume you have an Ubuntu 14.04 machine set up. Follow these steps to bring up the robot:

Installing Ros Indigo

First you have to install ROS indigo:

Set up your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116

Installation

sudo apt-get update
sudo apt-get install ros-indigo-desktop

Installing Gazebo

For using 3D simulated environment we use Gazebo5. Install it with these commands:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-indigo-gazebo5-ros-pkgs

Install Some ROS Packages

This packages are needed for the code to be maked and compiled:

Controller Manager

sudo apt-get install ros-indigo-controller-manager

Joy

sudo apt-get install ros-indigo-joy

Gmapping

sudo apt-get install ros-indigo-gmapping

Move Base

sudo apt-get install ros-indigo-move-base

Compiling and Running

Here we should first create a catkin workspace and compile and run our code. Follow these steps to finally see the result:

Creating a workspace

Use these commands to create a catkin workspace: (here we name it catkin_ws)

source /opt/ros/indigo/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

Then copy the contents of src folder from here to the src folder of your workspace.

Compiling the code

Assuming you're in the home directory and your catkin workspace folder is named catkin_ws use these commands:

cd catkin_ws
catkin_make

Source your project shell environment variables :

Run this command before run each

source ./devel/setup.bash

or (if using zsh shell )

source ./devel/setup.zsh

Running the code:

Use these commands to bring up the 3D environment with the robot spawned in it: (Run each in seprate terminal session and dont forget to run the command from previous step before each)

roslaunch bring_up server.launch
roslaunch bring_up client.launch
roslaunch bring_up gmapping.launch
roslaunch bring_up move_base.launch

Then Gazebo should be up and running with robot spwaned in it :)

Using SOSVR Controller to drive the robot:

connect the joystick then Run:

roslaunch bring_up teleop_joy.launch

but you still can't drive the robot unless you run:

rqt --force-discover

choose the "SOSVR Controller" from Plugins menu then select the robot1 and press play button. press A & RB buttons at the same time for speed mode, now Enjoy your ride :)