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Launching a REEM Gazebo simulation

Description: This tutorial describes how to open a Gazebo simulation for the REEM robot.

Tutorial Level: BEGINNER

Next Tutorial: Robots/REEM/Tutorials/play_motion

Indigo

Please follow the instructions that match your platform: indigo/Installation

You will need to install the desktop_full variant.

Fetch the REEM stuff

• Create a catkin workspace:

  • mkdir -p ~/reem-sim_ws/src && cd ~/reem-sim_ws/src
    catkin_init_workspace

• Checkout the rosinstall file

  • wstool init .
    wstool merge https://raw.githubusercontent.com/pal-robotics/pal-ros-pkg/master/reem-sim-indigo.rosinstall

• Checkout the REEM packages

  • wstool update -j8

• Pull dependences

  • cd ..
    rosdep install --from-paths src --ignore-src --rosdistro indigo -y

• Build everything

  • catkin_make

• Setup the ROS environment

  • . ~/reem-sim_ws/devel/setup.bash

You may want to add this line at the bottom of your ~/.bashrc file if you plan to work with REEM simulation.

Hydro

Please follow the instructions that match your platform: hydro/Installation

You will need to install the desktop_full variant.

Fetch the REEM stuff

• Create a catkin workspace:

  • mkdir -p ~/reem-sim_ws/src && cd ~/reem-sim_ws/src
    catkin_init_workspace

• Checkout the rosinstall file

  • wstool init .
    wstool merge https://raw.githubusercontent.com/pal-robotics/pal-ros-pkg/master/reem-sim-hydro.rosinstall

• Checkout the REEM packages

  • wstool update -j8

• Pull dependences

  • cd ..
    rosdep install --from-paths src --ignore-src --rosdistro hydro -y

• Build everything

  • catkin_make

• Setup the ROS environment

  • . ~/reem-sim_ws/devel/setup.bash

You may want to add this line at the bottom of your ~/.bashrc file if you plan to work with REEM simulation.

Launch the simulation

roslaunch reem_gazebo reem_empty_world.launch

Note that as of 17 of February 2014 you may get some harmless known errors like:

[ERROR] [1392654852.580381429]: Couldn't open joystick /dev/input/js0. Will retry every second.

If you don't have a joystick connected.

And also this ones:

Error [ContactManager.cc:267] Filter with the same name already exists! Aborting
[ WARN] [1392654861.824167641, 2.190000000]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
Error [SDF.cc:788] Missing element description for [depthImageTopicName]
Error [SDF.cc:788] Missing element description for [depthImageCameraInfoTopicName]
[ WARN] [1392654863.504664112, 2.190000000]: Joint limits will not be enforced for position-controlled joints: ...

This is being worked on.