andino_gz_classic

../_images/andino_gz_classic.png

Build

Install package dependencies:

rosdep install --from-paths src -i -y

Build the package:

colcon build

Note: --symlink-install can be added if needed.

Finally, source the install folder

. install/setup.bash

Note: gazebo might be needed to be sourced as well

. /usr/share/gazebo/setup.bash

Usage

This package has the next option to be executed.

Andino simulation with Gazebo diff drive plugin

ros2 launch andino_gz_classic andino_one_robot.launch.py initial_pose_x:=3.0

This launch file supports the following launch arguments:

  • use_sim_time: This parameter indicates to the rviz that it should work with simulation time. (default: ‘true’)

  • rviz: This parameter lets you decide if you want to run rviz with this launch. False can be useful if you want to view the rviz in another computer. (default: ‘true’)

  • world: SDF file of the world where andino will run. Note that the world should be available in gazebo paths. (default: ‘empty_world.world’)

Finally, all the parameters of spawn an andino robot to put the robot in a specific position are available. For more information on all the parameters of the child launch files you can write:

ros2 launch andino_gz_classic andino_one_robot.launch.py -s

Andino simulation with Gazebo ros2 control plugin

ros2 launch andino_gz_classic andino_one_robot.launch.py use_gazebo_ros_control:=true

Considerations

  • Note that the twist topic is diff_controller/cmd_vel_unstamped.

  • The twist topic should be sent at a frequency of at least 10hz because the action has a validity timeout.

Spawn an Andino robot

ros2 launch andino_gz_classic spawn_robot.launch.py initial_pose_x:=3.0 entity:=andino robot_description_topic:=/andino/robot_description

The parameters of this launch let you put the robot in any place of the simulation.

  • use_sim_time: Use simulation (Gazebo) clock if true. (default: ‘true’)

  • initial_pose_x: Initial x pose of andino in the simulation. (default: ‘0.0’)

  • initial_pose_y: Initial y pose of andino in the simulation. (default: ‘0.0’)

  • initial_pose_z: Initial z pose of andino in the simulation. (default: ‘0.0’)

  • robot_description_topic: Robot description topic. (default: ‘/robot_description’)

  • initial_pose_yaw: Initial yaw pose of andino in the simulation. (default: ‘0.0’)

  • use_gazebo_ros_control: True to use the gazebo_ros_control plugin. (default: ‘false’)

  • entity: Name of the robot. (default: ‘andino’)

  • rsp_frequency: Robot state publisher frequency. (default: ‘30.0’)

Spawn multiple andino robots has some issues, so no namespace is created.