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Installing PMB-2 Simulation

Description: A brief summary of commands to install the required packages for PMB-2 simulation

Tutorial Level: BEGINNER

Author: Sai Kishor Kothakota < sai.kishor@pal-robotics.com >

Maintainer: Jordi Pages < jordi.pages@pal-robotics.com >

Source: https://github.com/pal-robotics/pmb2_tutorials.git

Pre-Requisites

Make sure that all ROS repositories specified in the previous tutorial have been installed.

Linux commands

  Show EOL distros: 

  • Not supported. Currently supported ROS LTS: indigo, kinetic.

This is a temporary way to install the PMB-2 simulation. Soon it will be available through ROS Indigo binary packages. These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

For a source-based installation, first create an empty workspace:

  • mkdir ~/pmb2_public_ws
    cd ~/pmb2_public_ws

Download the rosinstall and copy it in ~/pmb2_public_ws. In order to clone the required repositories do as follows:

  • cd ~/pmb2_public_ws
    rosinstall src /opt/ros/indigo pmb2_public.rosinstall

Then run this command to make sure that all dependencies are installed.

  • sudo rosdep init
    rosdep update
    rosdep install --from-paths src --ignore-src --rosdistro indigo --skip-keys "pal_gazebo_plugins speed_limit sensor_to_cloud"

Finally you can build the workspace and source it:

  • catkin build
    source ./devel/setup.bash

and it is ready to go!

Launching a Gazebo simulation

First of all open a console and source the workspace:

  • source ./devel/setup.bash

To launch the simulation of the TIAGo Base, execute:

  • roslaunch pmb2_gazebo pmb2_gazebo.launch public_sim:=true

With the simulation of TIAGo Base we are providing several pre-defined worlds which stress different aspects of navigation systems. You can find a list of these here.

Now let's launch the TIAGo Base simulation in a large corridor as follows:

  • roslaunch pmb2_gazebo pmb2_gazebo.launch public_sim:=true world:=large_corridor

The simulated TIAGo Base can provide the laser scan and sonar readings as depicted below. pmb2_gazebo_rviz.png

Source-based installation

Currently source-based installation is provided.

These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

First of all open a terminal and create an empty workspace:

  • mkdir ~/pmb2_public_ws
    cd ~/pmb2_public_ws

Download the pmb2_public.rosinstall and copy it in ~/pmb2_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

  • cd ~/pmb2_public_ws
    rosinstall src /opt/ros/kinetic pmb2_public.rosinstall

Then run this command to make sure that all dependencies are installed.

  • sudo rosdep init
    rosdep update

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

  • rosdep install --from-paths src --ignore-src --rosdistro kinetic --skip-keys "pal_gazebo_plugins speed_limit_node sensor_to_cloud pmb2_rgbd_sensors pal_vo_server pal_karto pal_usb_utils pal_local_planner pal_filters hokuyo_node rrbot_launch robot_pose pal_pcl rviz_plugin_covariance pal-orbbec-openni2 slam_toolbox"

Then, you may proceed building the workspace:

  • source /opt/ros/kinetic/setup.bash
    catkin build

Once you compiled all packages and source the environment (source ~/pmb2_public_ws/devel/setup.bash) and it's all ready to go.

Launching a Gazebo simulation

First of all open a console and source the workspace:

  • source ./devel/setup.bash

To launch the simulation of the TIAGo Base, execute:

  • roslaunch pmb2_gazebo pmb2_gazebo.launch public_sim:=true

With the simulation of TIAGo Base we are providing several pre-defined worlds which stress different aspects of navigation systems. You can find a list of these here.

Now let's launch the TIAGo Base simulation in a large corridor as follows:

  • roslaunch pmb2_gazebo pmb2_gazebo.launch public_sim:=true world:=large_corridor

The simulated TIAGo Base can provide the laser scan and sonar readings as depicted below. pmb2_gazebo_rviz.png

  • Not supported. Currently supported ROS LTS: kinetic.

  • Not supported. Currently supported ROS LTS: kinetic.

Source-based installation

Currently source-based installation is provided.

These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.

First of all open a terminal and create an empty workspace:

  • mkdir ~/pmb2_public_ws
    cd ~/pmb2_public_ws

Download the pmb2_public.rosinstall and copy it in ~/pmb2_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

  • cd ~/pmb2_public_ws
    rosinstall src /opt/ros/melodic pmb2_public.rosinstall

Then run this command to make sure that all dependencies are installed.

  • sudo rosdep init
    rosdep update

Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed

  • rosdep install --from-paths src --ignore-src --rosdistro melodic --skip-keys "pal_gazebo_plugins speed_limit_node sensor_to_cloud pmb2_rgbd_sensors pal_vo_server pal_karto pal_usb_utils pal_local_planner pal_filters hokuyo_node rrbot_launch robot_pose pal_pcl rviz_plugin_covariance pal-orbbec-openni2 slam_toolbox"

Then, you may proceed building the workspace:

  • source /opt/ros/melodic/setup.bash
    catkin build

Once you compiled all packages and source the environment (source ~/pmb2_public_ws/devel/setup.bash) and it's all ready to go.

Launching a Gazebo simulation

First of all open a console and source the workspace:

  • source ./devel/setup.bash

To launch the simulation of the TIAGo Base, execute:

  • roslaunch pmb2_gazebo pmb2_gazebo.launch public_sim:=true

With the simulation of TIAGo Base we are providing several pre-defined worlds which stress different aspects of navigation systems. You can find a list of these here.

Now let's launch the TIAGo Base simulation in a large corridor as follows:

  • roslaunch pmb2_gazebo pmb2_gazebo.launch public_sim:=true world:=large_corridor

The simulated TIAGo Base can provide the laser scan and sonar readings as depicted below. pmb2_gazebo_rviz.png

Not supported. Currently supported ROS LTS: melodic.

Wiki: Robots/PMB-2/Tutorials/Installation/PMB2Simulation (last edited 2020-05-18 13:02:41 by SaiKishor)