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README.md

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This directory contains some example launch files and other configuration that can be used with the Gazebo simulator.

These are intended to serve as examples. Make copies to modify further for your own projects.

For more information about using Gazebo with ROS, start at http://wiki.ros.org/gazebo_ros_pkgs, and also read the documentation at http://gazebosim.org, especially http://gazebosim.org/tutorials?cat=connect_ros

Note: The launch files add the "models" subdirectory found here to the GAZEBO_MODEL_PATH and GAZEBO_RESOURCE_PATH environment variables before running Gazebo, so you can reference the example models there. If you want to keep your own separate models directory, either use ~/.gazebo/models, or remove these <env ... /> tags and set GAZEBO_MODEL_PATH and GAZEBO_RESOURCE_PATH in your shell. For example:

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/my_gazebo_models
export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/my_gazebo_models

You will need to structure your models directory as described in http://gazebosim.org/tutorials?tut=model_structure&cat=build_robot.

example-world.launch

An example roslaunch file that runs Gazebo with a simple empty world. Use one of the "spawn" launch files (see below) to add robots. Specify an alternate world via world argument or modify the example world to add or change any of the objects (models) in the world. Models can also be interactively added to a world from Gazebo: any models found in ~/.gazebo/models, or installed on the system, or available from the gazebosim.world website will be listed in the "Models" list on the left panel in the Gazbeo client GUi.

example-pioneer3at-world.launch

An example roslaunch file that runs Gazebo with an empty world (unless you specify a world argument), then spawns a P3AT robot. (Currently no sensors.)

You can then move the robot by publishing to the /cmd_vel topic, either:

  1. Use rostopic
  2. Use rviz:
    • Install rviz_plugin_tutorials:
      • For ROS jade: sudo apt-get install ros-jade-rviz-plugin-tutorials
      • For ROS indigo: sudo apt-get install ros-indigo-rviz-plugin-tutorials
    • Run rviz
    • Select Add Panel... from the Panels menu
    • Select the teleop panel
    • Enter /cmd_vel as the output topic of the teleop panel
    • Drag within the telop panel

spawn.launch

An example launch file for spawning simulated robots from urdf files in gazebo if already running. specify arguments with roslaunch: urdf Path to URDF file name Name of robot, only used an label in GUI

In addition to creating the robot in Gazebo, a joint_state_publisher and robot_state_publisher are launched as well.

e.g.:

roslaunch spawn.launch urdf:=../description/urdf/pioneer-lx.urdf.xacro name:=pioneer-lx

If not specified, defaults to pioneer3dx robot model.

Other example launch files default to other robot models:

  • spawn-pioneer3at.launch: Spawn a Pioneer 3-AT
  • spawn-pioneer3dx.launch: Spawn a Pioneer 3-DX
  • spawn-pioneer-lx.launch: Spawn a Pioneer LX etc.

example-pioneer3at-terrainworld.launch and example-pioneer3at-moonworld.launch

These roslaunch files run Gazebo in example environments defined by a heightmap. For the moon enivironment to work you may need to copy the apollo11_landing_site_1000x1000 model to your ~/.gazebo/models directory, especially for older versions of Gazebo. Note that gravity is moon-scale in the moon environment, so behavior of the robot may be unusual.

empty.world

This is just a copy of Gazebo's default "empty" world, containing only a plain ground plane.

simple-ramp.world

An example Gazebo world file. Includes a few objects defined either in external model SDF files (see models directory), or defined in the world file but referencing 3D mesh model files from the models database. You can specify this in the world argument to some of the launch files, or you can use example-simple-ramp-world.launch. (Use the "spawn" launch files described above to add robots to these worlds.)