Documentation Status

cob_simulation: cob_bringup_sim | cob_gazebo | cob_ogre

Package Summary

Documented

This package provides launch files for starting a simulated Care-O-bot.

cob_simulation: cob_bringup_sim | cob_gazebo | cob_ogre

Package Summary

Documented

This package provides launch files for starting a simulated Care-O-bot.

cob_simulation: cob_bringup_sim | cob_gazebo

Package Summary

Documented

This package provides launch files for starting a simulated Care-O-bot.

cob_simulation: cob_bringup_sim | cob_gazebo | cob_gazebo_objects | cob_gazebo_worlds

Package Summary

Released Continuous integration Documented

This package provides launch files for starting a simulated Care-O-bot.

  • Maintainer status: developed
  • Maintainer: Florian Weisshardt <fmw AT ipa.fhg DOT de>
  • Author: Florian Weisshardt <fmw AT ipa.fhg DOT de>
  • License: LGPL
  • Source: git https://github.com/ipa320/cob_simulation.git (branch: hydro_release_candidate)
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Software Requirements

Make sure that you have the cob_simulation stack installed on your system.

Usage/Examples

Building all packages needed for cob_bringup_sim

rosdep install cob_bringup_sim
rosmake cob_bringup_sim

Starting a simulated Care-O-bot in gazebo using an environment provided by IPA

The launch files for starting the simulation depend on two environment variables ROBOT and ROBOT_ENV, you can find a detailed explanation of their usage on the main Care-O-bot site.

export ROBOT=cob3-3
export ROBOT_ENV=ipa-kitchen
roslaunch cob_bringup_sim robot.launch

Population the world with objects

After you started the gazebo simulation environment you can add objects from cob_gazebo_objects to the simulation. Their names and positions for a specific environment are defined in cob_default_env_config. To add objects you can use

roslaunch cob_default_env_config upload_object_locations.launch
rosrun cob_bringup_sim spawn_object.py OBJECT_NAME1 OBJECT_NAME2 OBJECT_NAME3 ...

or

rosrun cob_bringup_sim spawn_object.py all

There are pre-defined positions for the objects depending on the environment they get spawned. For more information about specifying positions, see cob_default_env_config.

You can remove objects with

rosrun cob_bringup_sim remove_object.py OBJECT_NAME1 OBJECT_NAME2 OBJECT_NAME3 ...

or

rosrun cob_bringup_sim remove_object.py all

Wiki: cob_bringup_sim (last edited 2013-04-04 07:22:10 by FlorianWeisshardt)