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--- teaching:se-kiba:manipulation-assignment:gazebo-settings [2013/04/23 08:14] – [Setting up the world] 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 ======
-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, create a new ROS package called iai_seminar_manipulation_environment. If you forgot how to create a pkg, [[http://www.ros.org/wiki/ROS/Tutorials/CreatingPackage|peek here]].
+In our manipulation-repo, create a new ROS package called iai_seminar_manipulation_environment. If you forgot how to create a pkg, [[http://www.ros.org/wiki/ROS/Tutorials/CreatingPackage|peek here]].
 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.
-===== Setting up the world =====
+===== Setting up an empty world =====
 We will copy parts of the standard (but extensive) gazebo setup to start our empty world.
-  * In your environment package, create a sub-dir launch.
+  * In our environment package, create a sub-dir launch.
-  * In launch, create an empty launch-file called pr2_leightwight.launch (you can find the basic syntax of launch-files [[http://www.ros.org/wiki/ROS/Tutorials/UsingRqtconsoleRoslaunch|here]])
+  * In launch, create an empty launch-file called gazebo_empty_world.launch (you can find the basic syntax of launch-files [[http://www.ros.org/wiki/ROS/Tutorials/UsingRqtconsoleRoslaunch|here]])
-  * Go to the package pr2_gazebo using the roscd command line tool. If you do not have yet installed pr2_gazebo on your computer, do so using aptitude.
+  * 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 your launch-file in your environment package. Do not copy the part about starting up the PR2!
+  * 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 your 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.
+  * 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 our launch-file. Eventually, you should see an empty gazebo world.
+  * Compile our environment package using rosmake, and try launching the launch-file. Eventually, you should see an empty gazebo world.
-===== Getting the robot inside =====
+===== 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/launch/pr2_no_controllers: Copy the parts to send the pr2-urdf to the parameter server, and also the node to spawn the robot in gazebo.
+  * From pr2_gazebo/launch/pr2_bringup: Copy the launch to start the controller manager, and the node which publishes the fake calibration, and Fake Calibration.
+  * From pr2_gazebo/launch/pr2.launch: Copy the launch to to load and start the default controllers.
+  * 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, and in another terminal launch pr2-lightweight. After some time (and lot's of printouts on both consoles) you should see the simulated pr2.
+===== 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.