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/noetic-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

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

• RB-Theron Omni:

roslaunch rb_theron_sim_bringup rb_theron_complete.launch xacro_robot:=rb_theron_omni.urdf.xacro ros_planar_move_plugin:=true odom_model_type:=omni

Docker Usage

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

Installation of required files

• docker
• nvidia-docker
• nvidia-drivers

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

git clone https://github.com/RobotnikAutomation/rb_theron_sim.git
cd rb_theron_sim
git checkout noetic-devel
cd docker
export ROS_BU_PKG="rb_theron_sim_bringup"
export ROS_BU_LAUNCH="rb_theron_complete.launch"
docker compose up

Usage for RB-Theron Omni simulation (1 robot by default, up to 3 robots):

git clone https://github.com/RobotnikAutomation/rb_theron_sim.git
cd rb_theron_sim
git checkout noetic-devel
cd docker
export ROS_BU_PKG="rb_theron_sim_bringup"
export ROS_BU_LAUNCH="rb_theron_complete.launch xacro_robot:=rb_theron_omni.urdf.xacro ros_planar_move_plugin:=true odom_model_type:=omni"
docker compose up