rb_theron_sim

=============

Packages for the simulation of the RB-Theron

Packages

rb_theron_gazebo

Launch files and world files to start the models in gazebo

rb_theron_sim_bringup

Launch files that launch the complete simulation of the robot

Simulating RB-Theron

1) Install the following dependencies:

This simulation has been tested using Gazebo 9 version. To facilitate the installation you can use the vcstool:

sudo apt-get install -y python3-vcstool

2) Create a workspace and clone the repository:

mkdir catkin_ws
cd catkin_ws
vcs import --input \
  https://raw.githubusercontent.com/RobotnikAutomation/rb_theron_sim/melodic-devel/repos/rb_theron_sim.repos
rosdep install --from-paths src --ignore-src -y -r

3) Compile:

catkin build
source devel/setup.bash

4) Launch RB-Theron simulation (1 robot by default, up to 3 robots):

• RB-Theron:

roslaunch rb_theron_sim_bringup rb_theron_complete.launch

Environment Variables

Enviroment	Default Value	Meaning
X_INIT_POSE	0.0	robot x init pose
Y_INIT_POSE	0.0	robot y init pose
Z_INIT_POSE	0.15	robot z init pose
INIT_YAW	0.0	robot yaw init pose
LAUNCH_GMAPPING	false	launching gmapping
LAUNCH_AMCL	true	launching amcl
LAUNCH_MAPSERVER	true	launching map server
LAUNCH_MOVE_BASE	true	launching move base
LAUNCH_PAD	true	launching joystick
LAUNCH_ROSBRIDGE	true	launching rosbridge
LAUNCH_RVIZ	true	launching rviz
USE_GPU	true	gazebo use gpu
VERBOSE	false	gazebo verbose
GUI	true	gazebo gui launch
DEBUG	false	gazebo debug
ROSBRIDGE_PORT	9090	default

Docker Usage

In order to run this simulation you will need nvidia graphical accelation

Installation of required files

Intel GPU

• docker engine
• docker compose plugin

Nvidia GPU

• docker engine

• docker compose plugin

• nvidia-drivers

• nvidia-docker

Usage

git clone https://github.com/RobotnikAutomation/rb_theron_sim.git
cd rb_theron_sim
git checkout melodic-devel
nvidia-smi &>/dev/null \
&& ln -sf docker-compose-nvidia.yml docker-compose.yml \
|| ln -sf docker-compose-intel.yml docker-compose.yml
cd docker
docker compose up

Manual Build

If you wish to build the image without launching the simulation use the following commands:

cd docker
docker compose build

Notes

This is docker requires a graphical interface

• In order to exit you have to 2 options

• The ROS_MASTER_URI is accessible outside the container, so in the host any ros command should work

• You could also run a roscore previous to launch the simulation in order to have some processes on the host running

• if you want to enter on the container use the following command in another terminal

1. Close gazebo and rviz and wait a bit

2. execute in another terminal:

   docker container rm --force docker-rb-theron-sim-1

Notes

• This is docker requires a graphical interface

• The ROS_MASTER_URI is accessible outside the container, so in the host any ros command should work

• You could also run a roscore previous to launch the simulation in order to have some processes on the host running

• if you want to enter on the container use the following command in another terminal

  docker container exec -it docker-rb-theron-sim-1 bash

• In order to exit you have to 2 options

1. Close gazebo and rviz and wait a bit

2. execute in another terminal in the same folder than the docker-compose.yml:

   docker compose down