NanoBot_Sim

A repo. which maintains simulation tools in Gazebo for Robotics.

Supported Platforms

• ROS-Noetic on Ubuntu20.04

Vehicles

• diff_car: a simple differential robot equipped with 2-wheel drive.
• diff_tracked: a compact tracked mobile robot specifically designed to tackle demanding off-road terrains, as well as confined and challenging work areas.
• quad_uav: a simple quadrotor drone based on PX4 firmware.

Shared simulation resources

• gazebo_worlds: vehicle-independent Gazebo worlds and the common world launcher.

Third-party

• Gazebo 11

• other related tools

  # robot control middleware and kinematics plugins of common models
  sudo apt install ros-noetic-ros-control ros-noetic-ros-controllers
  
  # communication interface between Gazebo and ROS 
  sudo apt install ros-noetic-gazebo-ros ros-noetic-gazebo-ros-control
  
  # visualize the joint control
  sudo apt install ros-noetic-joint-state-publisher-gui
  
  # a ROS tool closely related to robot motion control
  sudo apt-get install ros-noetic-rqt-robot-steering 
  
  # keyboard or joy control
  sudo apt install ros-noetic-teleop-twist-keyboard ros-noetic-joy ros-noetic-teleop-twist-joy
  
  # sensors
  sudo apt install ros-noetic-velodyne*

Run

mkdir -p ws_nanobot_sim/src
cd ws_nanobot_sim/src
git clone git@github.com:zhan994/nanobot_sim.git
cd ..
catkin_make

Launch a world without spawning a vehicle:

roslaunch gazebo_worlds world.launch \
  world_name:=$(rospack find gazebo_worlds)/worlds/iscas_museum.world

Vehicle launch files accept the same world_name argument, so any shared world can be selected without editing the package:

roslaunch diff_car_gazebo diff_car_gazebo.launch \
  world_name:=$(rospack find gazebo_worlds)/worlds/clearpath_playpen.world

Note!!! For details on the use of specific vehicle, please refer to README.md in the sub-folders.

Related Work

• ugv_gazebo_sim: AgileX Product Gazebo Simulate.
• gazebo_models: Gazebo database of SDF models.