Gazebo Simulation model of the Kugle robot

Notice that this model is not a complete simulation model of the ballbot but is only used as an abstraction to simulate and test navigation and planning algorithms for the Kugle robot using its' holonomic properties.

sudo apt-get install python-catkin-tools

To set up the simulation environment you need to clone the necessary repositories into an existing or new catkin workspace. Follow the steps below to set up a new catkin workspace and clone:

mkdir -p ~/kugle_ws/src
cd ~/kugle_ws/src
catkin_init_workspace
git clone https://github.com/mindThomas/Kugle-Gazebo
git clone https://github.com/mindThomas/Kugle-ROS
git clone https://github.com/mindThomas/realsense_gazebo_plugin
cd ..
rosdep install --from-paths src --ignore-src -r -y

Build the project with catkin build

cd ~/kugle_simulation_ws
catkin build
source devel/setup.bash

The Gazebo simulation can be launched with

roslaunch kugle_gazebo gazebo.launch

But it is recommended to launch the simulation within the Kugle-ROS driver. See more at https://github.com/mindThomas/Kugle-ROS#simulation