teaching:se-kiba:manipulation-assignment:gazebo-settings
Differences
This shows you the differences between two versions of the page.
| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| teaching:se-kiba:manipulation-assignment:gazebo-settings [2013/04/23 08:35] – [Setting up the package] bartelsg | teaching:se-kiba:manipulation-assignment:gazebo-settings [2016/05/19 09:19] (current) – external edit 127.0.0.1 | ||
|---|---|---|---|
| Line 23: | Line 23: | ||
| * 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. | * 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. | * 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 ===== | ===== 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.1366706151.txt.gz · Last modified: 2016/05/19 09:18 (external edit)