Husky Simulation

最新推荐文章于 2024-07-23 21:05:17 发布

Kair94

最新推荐文章于 2024-07-23 21:05:17 发布

阅读量523

点赞数

分类专栏： ROS

原文链接：https://github.com/alualu628628/Husky_Simulation

版权

ROS 专栏收录该内容

5 篇文章

订阅专栏

https://github.com/alualu628628/Husky_Simulation

Husky Simulation

This is a simulated system (based on ros gazebo) for outdoor mobile robot Husky to explore the unknown outdoor scenes.

Installation

The system is based on ROS - Indigo and particularly the Gazebo.
We suggest building this system on Ubuntu 14.04.
Please follow the following steps in order to install the package along with its dependences:

Install ROS-Indigo full desktop (guide).
Install Husky official package (guide)
Install the grid_map package that can be optionally used for mapping (guide)(i.e.,sudo apt-get install ros-indigo-grid-map)
check whether other dependences of Husky package is need. Assuming Husky package is cloned under $HUSKY_DIR$ :

cd $HUSKY_DIR$
rosdep install --from-path src --ignore-src --rosdistro=indigo -y

Install this package:

cd $HUSKY_DIR$
catkin_make -DCMAKE_BUILD_TYPE=Release

Set the environment variables:

set the environment variable at ~/.bashrc as:

gedit ~/.bashrc

comment the environment variable of HUSKY_GAZEBO_DESCRIPTION if you have claimed it:

# export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro

use husky_custom_description as the HUSKY_DESCRIPTION value instead of raw package

sh $(rospack find husky_custom_description)/env-hooks/50.husky_custom_description.sh

set the correct path of official placeholder where the system could locate the entry of extension

export HUSKY_URDF_EXTRAS=$(rospack find husky_description)/urdf/empty.urdf

use husky_custom_gazebo as the HUSKY_GAZEBO_DESCRIPTION value instead of raw package

sh $(rospack find husky_custom_gazebo)/env-hooks/50.husky_custom_gazebo.sh

Running

setup the environment variables
Run source devel/setup.bash in project root in order to .
Instead, We strongly recommend writing the variables into ~/.bashrc so that you don’t need to set up environment variables any more when you run this project.

launches customized husky gazebo (gazebo).

roslaunch husky_gazebo husky_playpen.launch

launches customized husky visualization (rviz).

roslaunch husky_viz view_robot.launch

LOAM can be used to SLAM (mapping and location robot) as follow(gp-insac algorithm is launched parallelly, which is to devide ground, obstacle and boundary points):

roslaunch loam_velodyne loam_velodyne.launch

For mapping with topological and geometrical information

roslaunch topo_confidence_map mapping.launch

To automatically send the goal of mapping results to husky moving action

roslaunch husky_navigation_goals send_goal.launch

Other launch files can be used for different other outdoor environments e.g., husky_wild.launch, husky_terrain.launch.

Parameters

output the result in your own path, please modify below codes in ‘/simulation_ws/src/topo_confidence_map/launch/mapping.launch’

<arg name="fileoutputpath" default="/home/yourname/"/>