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Beam Gazebo Simulation and in Real Life

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Gabriel Lauzier edited this page Apr 30, 2021 · 3 revisions

Fetch the Rviz Gazebo simulation from agewell-smart-beam (private)

cd <your Catkin workspace>/src
git clone https://github.com/introlab/agewell-smart-beam.git
cd <your Catkin workspace>
catkin_make

Test the simulation:

roslaunch beam_bringup Beam.launch simulation:=true run_local:=true joystick_port:=js0 rtabmapviz:=false localization:=false

Opentera-WebRTC-ROS on Beam Gazebo simulation

Be sure to have Rviz Gazebo simulation from agewell-smart-beam (private) in your Catkin workspace as describe earlier

cd <your Catkin workspace>/src
git clone https://github.com/introlab/opentera-webrtc-ros.git
cd <your Catkin workspace>
catkin_make
roslaunch opentera-webrtc-ros sim_beam.launch

Note: The launch file of opentera-webrtc-ros package might not be up to date and you may also have to remap some nodes in beam.launch in order to make it work. You may want to use the command:

rqt_graph

in order to visualize all the node and topics for remap.

In case the package is not up to date you will want to create a new launch file with the following in it in the right order:

  1. <include file="$(find opentera_webrtc_ros)/launch/beam.launch"/>
  2. <include file="$(find beam_bringup)/launch/Beam.launch"/> with the right parameters according what you want to do, take a look at the Package Information (private)

Opentera-WebRTC-ROS on Beam in real life

You will need to create a new launch file with the following in it in the right order:

  1. <include file="$(find opentera_webrtc_ros)/launch/beam.launch"/>
  2. <include file="$(find beam_bringup)/launch/Beam.launch"/> with the right parameters according what you want to do, take a look at the Package Information (private)

You can remap the topics with the corresponding one in beam.launch file from opentera-webrtc-ros package.

Maybe it should be better to create your own launch file with the steps describe in the precedent section.

Note 2: This documentation is not exhaustive and need to be complete.

For more information on how to run Beam on simulation as well as in real life take a look at the Package Information (private)

Take a look at agewell-smart-beam (private)

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