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Tutorial.md

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Overview

This tutorial will walk you through setting up a gazebo simulation of the Dataspeed Inc. Mobility Base and Rethink Robotics Baxter.

Workspace setup

Note: The following commands must be run from the root of a catkin workspace, or an empty folder you wish to become a cakin workspace.

Initialize workspace

wstool init src

Download required source code

wget https://bitbucket.org/DataspeedInc/mobility_base_ros/raw/master/mobility_base.rosinstall -O /tmp/mobility_base.rosinstall
wget https://bitbucket.org/DataspeedInc/mobility_base_simulator/raw/master/mobility_base_simulator.rosinstall -O /tmp/mobility_base_simulator.rosinstall
wstool merge -t src /tmp/mobility_base.rosinstall
wstool merge -t src /tmp/mobility_base_simulator.rosinstall
wstool update -t src

Install dependencies

sudo apt-get install ros-$ROS_DISTRO-baxter-simulator ros-$ROS_DISTRO-joint-state-controller
rosdep update && rosdep install --from-paths src --ignore-src -r

Build

catkin_make -DCMAKE_BUILD_TYPE=Release

Run the simulation

If you wish to simulate the Mobility Base without Baxter, use baxter:=false

source devel/setup.bash
roslaunch mobility_base_gazebo mobility_base_empty_world.launch baxter:=true

Things to try in a new tab

Remember to source the workspace for each new tab source devel/setup.bash

  • Enable Baxter
    • rosrun baxter_tools enable_robot.py -e
    • rosrun baxter_tools tuck_arms.py -u
  • Visualize sensors in rviz
    • roslaunch mobility_base_tools rviz.launch
  • Basic motion commands: Video
    • rosrun mobility_base_examples motion_demo.py
  • Include LIDAR sensors in the simulation
    • Set desired environment variables documented here.