taurob tracker ROS packages for simulation

Authors: Clemens Hammer, taurob GmbH Lukas Silberbauer, taurob GmbH

Date: 27 June 2018

This repository contains packages to simulate a taurob tracker robot base

Copyright (c) 2018 taurob GmbH. All rights reserved. Perfektastrasse 57/7, 1230 Wien, Austria. [email protected]

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Install the following (assuming you run ROS Kinetic):

sudo apt-get update

sudo apt-get install ros-kinetic-control-toolbox ros-kinetic-controller-manager ros-kinetic-gazebo-ros-control ros-kinetic-hector-xacro-tools ros-kinetic-hector-gazebo-plugins ros-kinetic-gps-common ros-kinetic-robot-pose-ekf ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-position-controllers

Simply place the packages in your ROS workspace, and compile using catkin_make.

To start a simulation two additional packages are required. Therefore change into your workspace source directory and clone the repositories:

• gazebo_ros_control_selected_joint: https://github.com/tu-darmstadt-ros-pkg/gazebo_ros_control_select_joints.git

• roboticsgroup_gazebo_plugin: https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git

To start the simulation execute the following command:

• roslaunch taurob_tracker_bringup bringup.launch

The repository includes a Dockerfile that can be used to quickly build...

sudo docker build -t tracker_simulation .

... and run...

sudo docker run -ti -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix tracker_simulation

... the simulation.

To move the robot base the following topics are available:

• /taurob_tracker/cmd_vel_raw

• /taurob_tracker/joint_flipper_position_controller/command