gerona_examples

GeRoNa examples

This package provides example launch files for GeRoNa.

Stage

We provide two simple stage examples: Both of them spawn a stage world with a kobuki and start GeRoNa plus RViz. Use the navigation goal from RViz to test GeRoNa interactively.

Examples

1. stage_example_odometry.launch Uses only the simulated odometry. No mapping is performed, which causes problems with obstacles behind the robot

2. stage_example_amcl.launch Uses a map and AMCL for full navigation

Installation of requirements (Ubuntu)

Remove the CATKIN_IGNORE file in gerona_examples

Use rosdep to get all dependencies, or install them manually with

sudo apt-get install ros-kinetic-turtlebot-stage

To use rosdep, run the following

rosdep install --from-paths -i -r -y <path-to-src>

Gazebo

We provide two gazebo examples that use skid steering robots. To run the example, install the following dependencies:

Use rosdep to get all dependencies, or install them manually with sudo apt-get install ros-kinetic-summit-xl-sim

Clone the latest version of the following repositories into your workspace:

git clone https://github.com/RobotnikAutomation/robotnik_msgs.git
git clone https://github.com/RobotnikAutomation/robotnik_sensors.git
git clone https://github.com/RobotnikAutomation/summit_xl_sim.git
git clone https://github.com/RobotnikAutomation/summit_xl_common.git
git clone https://github.com/rst-tu-dortmund/costmap_prohibition_layer
git clone https://github.com/ros-perception/slam_gmapping.git
git clone https://github.com/ros-perception/openslam_gmapping.git
git clone https://github.com/Gastd/p3at_tutorial

The first startup of gazebo might take a while as gazebo downloads missing models.

Examples

1. gazebo_example_summit.launch

Summit XL simulation, shows how to remap topics, tf frames and groups.

There is a problem with the summit simulation in older gazebo versions: friciton pyramid makes skid steering inhomogeneous. Depending on the absolute orientation of the robot, the skidding behaves differently. To test if your gazebo version has this problem, simply publish a static command to the robot:

rostopic pub /cmd_vel geometry_msgs/Twist "linear:
      x: 0.3
      y: 0.0
      z: 0.0
    angular:
      x: 0.0
      y: 0.0
      z: 0.50" -r 10

If the robot is not moving in a circle, a useful behavior of GeRoNa cannot be expected.

2. gazebo_example_pioneer.launch

Pioneer simulation and full GeRoNa stack demonstration.

3. gazebo_example_pioneer_pioneer_follower_only.launch

Pioneer simulation and demonstration where only the path follower is used. A secondary node (follow_path_example.py) is used to convert nav_msgs/Path from global_planner into path_msgs/DirectionalPaths.

4. gazebo_example_summit_mbc.launch

Demonstrates the use of local planning on a elevation map only based only on the RGB-D sensor. In order to run the example the "summit_xl_rgbd_down.urdf.xacro" file from "gerona_examples/robots" needs to be copied to "summit_xl_description/robots" folder in the summit_xl_common package.