Human Model Control in Gazebo Through ROS

This project simulates human model control using ROS and Gazebo. It includes a human model with configurable ROS controllers for movement and spawns various objects in a Gazebo world for collaborative and dynamic environment simulation.

The human model URDF is taken from this repository: https://github.com/robotology/human-gazebo.

Features

• Human Model Simulation: A detailed URDF-based human model with ROS controllers for position and movement.
• Gazebo Integration: Objects such as cubes, sensors, and guards to simulate a collaborative environment.
• ROS Controller Configurations: Easily customizable ROS controllers for the human model.

Getting Started

Prerequisites

Ensure you have the following installed:

• ROS (tested with Foxy and Humble)
• Gazebo
• ros_control and controller_manager packages

Installation

1. Clone this repository:

   cd src
   git clone https://github.com/ammar-n-abbas/human_model_gazebo_ros_control

2. Build the workspace:

   colcon build
   source devel/setup.bash

Directory Structure

human_model_gazebo_ros_control/
├── config/
│   └── ros_controllers.yaml  # Configuration for ROS controllers
├── urdf/
│   └── human_model.urdf      # URDF file for human model
├── launch/
│   └── demo_gazebo_ros_control.launch  # Launch file for human model and controllers
│   └── gazebo.launch  # Launch file for gazebo
└── scripts/
    └── human_random_control.py  # Python file for human random control

Usage

1. Launching the Human Model and Controllers:

   Run the following command to start the simulation:

   ros2 launch <your-ws-name> demo_gazebo_ros_control.launch

   Run the following command to start the random control movement:

   python ./scripts/human_random_control.py

2. Configuration:

   • To modify controller settings, edit config/ros_controllers.yaml.
   • URDF changes for the human model can be made in urdf/human_model.urdf.

Parameters

• human_description_file: Path to the human model URDF file.
• controller_config_file: Path to the YAML file defining ROS controllers.

Contributing

Contributions are welcome! Please open an issue or submit a pull request for any enhancements or bug fixes.

License

This project is licensed under the MIT License. See the LICENSE file for details.

Acknowledgments

This project has emanated from research conducted with the financial support of the EU Commission Recovery and Resilience Facility under the Science Foundation Ireland Future Digital Challenge Grant Number 22/NCF/FD/10929.