teaching:se-kiba:manipulation-assignment:gazebo-settings
Differences
This shows you the differences between two versions of the page.
Next revision | Previous revision | ||
teaching:se-kiba:manipulation-assignment:gazebo-settings [2013/04/23 08:00] – created bartelsg | teaching:se-kiba:manipulation-assignment:gazebo-settings [2016/05/19 09:19] (current) – external edit 127.0.0.1 | ||
---|---|---|---|
Line 1: | Line 1: | ||
====== Setting up our Simulation Environment ====== | ====== Setting up our Simulation Environment ====== | ||
- | The gazebo simulator included in ROS is very powerful but also computionally demanding. To improve the performance on your systems we will use a lightweight setup for our tutorial. | + | The gazebo simulator included in ROS is very powerful but also computionally demanding. To improve the performance on our systems we will use a lightweight setup for our tutorial. |
- | ===== Setting up the package ===== | + | ===== A new package ===== |
- | In your manipulation-repo, | + | In our manipulation-repo, |
Remove the mainpage.dox as we won't use it. Instead you will document your packages on your wikipage. So, add a link to your wiki page in the manifest-file of the package. | Remove the mainpage.dox as we won't use it. Instead you will document your packages on your wikipage. So, add a link to your wiki page in the manifest-file of the package. | ||
- | Make a first local commit to your git-repo. In general, we recommend you to commit locally very often. A good rule of thumb is to have one commit per feature. | + | Make a first local commit to your git-repo. In general, we recommend you to commit locally very often. A good rule of thumb is to have one commit per feature. From now on, you have to decide yourself, when to make a commit. |
Also, please do not commit files that have been generated or built, i.e. anything from the directories bin or build or msg_gen etc, because these will be regenerated with every new compilation. | Also, please do not commit files that have been generated or built, i.e. anything from the directories bin or build or msg_gen etc, because these will be regenerated with every new compilation. | ||
+ | |||
+ | ===== Setting up an empty world ===== | ||
+ | |||
+ | We will copy parts of the standard (but extensive) gazebo setup to start our empty world. | ||
+ | |||
+ | * In our environment package, create a sub-dir launch. | ||
+ | * In launch, create an empty launch-file called gazebo_empty_world.launch (you can find the basic syntax of launch-files [[http:// | ||
+ | * Go to the package pr2_gazebo using the roscd command line tool. If you have not yet installed pr2_gazebo on your computer, do so using aptitude. | ||
+ | * Open the file pr2_empty_world.launch from the sub-dir launch. | ||
+ | * Copy everything about starting up the empty world from this file to our launch-file in our environment package. Do not copy the part about starting up the PR2! | ||
+ | * Go back to our environment package, and add a dependency on the package gazebo_worlds to the manifest-file. We need to add this dependency because our launch-file depends on another launch-file from the gazebo_worlds package. Like this the buildsystem knows that it needs to compile gazebo_worlds (and all of its dependencies) when we compile our environment package. | ||
+ | * Compile our environment package using rosmake, and try launching the launch-file. Eventually, you should see an empty gazebo world. | ||
+ | |||
+ | ===== And in the third step, he created a robot ===== | ||
+ | We will now cherry-pick various launch-files to create simluations of all necessary processes of the PR2: | ||
+ | * In our environment package, create an empty launch-file called pr2_lightweight.launch | ||
+ | * From pr2_gazebo/ | ||
+ | * From pr2_gazebo/ | ||
+ | * From pr2_gazebo/ | ||
+ | * Hint: Do not forget to add the package dependencies that we now added to the manifest of our package. | ||
+ | * For testing, re-compile our environment package. Then launch the empty_world, | ||
+ | ===== Putting it all together ===== | ||
+ | Where we combine our launch-files into one for easier access. | ||
+ | * In our environment package, create a third launch-file called pr2_lightweight_world.launch | ||
+ | * Launch the other two previously created launch-files from it. | ||
+ | |||
+ | Hint: Now might be a good time push all our commits to github. |
teaching/se-kiba/manipulation-assignment/gazebo-settings.1366704040.txt.gz · Last modified: 2016/05/19 09:18 (external edit)