PinnaBot Simulator

Metapackage of a mobile robot model using ROS and Gazebo. The aim of this project is to provide a simulator to test algorithms and new routines in different customize environments. In the same way, to offer an educational platform of mobile robotic at the National University of San Luis

Requirements

• Git: To download and manage the source code.
• Ubuntu 18.04: Operating System necessary to run.
• ROS: ROS Melodic Morenia. It's the framework of the project.
• Gazebo: The simulator with physics engine.

Contents

The repository contents:

• Description package: It contents the Robot Model(URDF), the Collada meshes and launch files to run the robot "Pinnabot".
• Gazebo package: Folder with differents worlds or environments of Gazebo.
• Control package: Package with a generic PID control of ROS-Control and an odometry service.
• Example package: Folder with use's examples.

Details

This package contain:

• 3 Worlds:
  • LABME(National Univesity of San Luis)
  • Gas Station(Gazebo community)
  • Willow Garage(Gazebo community)
• 1 mobile robot with:
  • Lidar laser scan
  • Camera
  • 3 sonar sensors
  • 1 castor wheel
  • 2 locomotion wheels

Usage

First, install ROS. Instrucctions (http://wiki.ros.org/melodic/Installation/Ubuntu) [Desktop-Full install recommended]

Then, create a work sapace:

    mkdir -p ~/simulation_ws/src
    cd ~/simulation/
    catkin_make

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

   echo "source /simulation_ws/devel/setup.bash" >> ~/.bashrc
   source ~/.bashrc

The project is ready to use.

Example

To run an example you must run the command:

roslaunch pinnabot_example sonar_test.launch

It's an example of an application of an algorithm to avoid obstacles with 3 sonar sensors.