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__NOTOC__
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* Installation & Configuration
<div class="title-block">
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** Robot Setup|Robot Setup
 +
** Workstation Setup|Workstation Setup
 +
** Networking|Networking
 +
** Hello Robot|Hello Robot!
 +
** Hardware Components|Hardware Components
 +
** System_requirements | SDK Workstation Requirements
 +
** Workspace Guidelines | Robot Workspace Guidelines
 +
** Field_Service_Menu_(FSM)|Field Service Menu (FSM)
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** Time_and_NTP | Time and NTP
 +
** Software_Update|SDK Software Update
 +
** Release-Changes|SDK Release Notes
  
<span style="font-size:120%;">'''This tutorial describes how to use Sawyer with Gazebo the standard Physics Simulator for ROS.'''</span>
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* Concepts
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** SDK System Overview | SDK Robot-Workstation Overview
 +
** E-STOP and Enable Robot | E-STOP and Enable Robot
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** Arm Calibration | Arm Calibration
 +
** Arm Control Systems | Arm Control Systems
 +
** API Reference | API Reference
  
</div>
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* Tutorials
 +
** Interaction_Control_Tutorial | Interaction Control Tutorial
 +
** Motion_Interface_Tutorial | Motion Interface Tutorial
 +
** MoveIt Tutorial | MoveIt! Tutorial
 +
** Gazebo Tutorial | Gazebo Tutorial
  
<div class="content-block">
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* Code Examples
 +
** Running Examples Overview | Running Examples Overview
 +
** Camera Image Display Example|Camera Image Display Example
 +
** Gripper Example|Gripper Example
 +
** Gripper Cuff Control Example|Gripper Cuff Control Example
 +
** Head Display Image Example|Head Display Image Example
 +
** Head Movement Example|Head Movement Example
 +
** Lights Blinking Example|Lights Blinking Example
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** IK Service Example|IK Service Example
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** Joint Position Example | Joint Position Example
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** Joint Position Waypoint Example|Joint Position Waypoint Example
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** Joint Torque Springs Example|Joint Torque Springs Example
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** Joint Trajectory Playback Example|Joint Trajectory Playback Example
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** Set_Interaction_Options_Example | Set Interaction Options Example
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** Go_To_Joint_Angles_Example | Motion Interface Go-To-Joint Angles
  
[[File:gazebo_logo.png|Gazebo Logo|500px]]<br />
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* Support
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** User_Forum | User Forum
  
'''[http://gazebosim.org/tutorials Please visit the Gazebo Tutorials homepage for more information about the Physics simulator]'''
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* Toolbox
 +
** Special:AllPages|All Pages
 +
** {{fullurl:{{FULLPAGENAME}}|printable=yes}}|Print
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** Special:Upload | Upload File
 +
** Special:WhatLinksHere | What Links Here?
 +
* SEARCH
  
</div>
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[http://www.example.com link title]
 
 
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== Installation/Prerequisites ==
 
*Make sure you have followed the [[Workstation Setup]] tutorial before beginning this section. Sawyer Gazebo is '''only''' available for '''Ubuntu 16.04, ROS Kinetic, and Gazebo 7'''.
 
*Ensure the following software packages are installed:
 
 
 
 
 
<tabs>
 
<tab name="ROS Kinetic">
 
<syntaxhighlight lang="bash" enclose="div">
 
$ sudo apt-get install gazebo7 ros-kinetic-qt-build ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-ros-pkgs ros-kinetic-ros-control ros-kinetic-control-toolbox ros-kinetic-realtime-tools ros-kinetic-ros-controllers ros-kinetic-xacro python-wstool ros-kinetic-tf-conversions ros-kinetic-kdl-parser ros-kinetic-sns-ik-lib
 
</syntaxhighlight>
 
</tab>
 
</tabs>
 
 
 
== Sawyer Simulator Installation ==
 
<tabs>
 
<tab name="ROS Kinetic">
 
*From your catkin workspace where the SDK resides, use wstool to install and update:
 
==== Install sawyer_simulator ====
 
<syntaxhighlight lang="bash" enclose="div">
 
$ mkdir -p ~/ros_ws/src
 
$ cd ~/ros_ws/src
 
$ git clone https://github.com/RethinkRobotics/sawyer_simulator.git
 
$ cd ~/ros_ws/src
 
$ wstool init .
 
$ wstool merge sawyer_simulator/sawyer_simulator.rosinstall
 
$ wstool update
 
</syntaxhighlight>
 
'''IMPORTANT:''' Make sure all simulator repositories update to their proper branch.
 
==== Build Source ====
 
<syntaxhighlight lang="bash" enclose="div">
 
$ source /opt/ros/kinetic/setup.bash
 
$ cd ~/ros_ws
 
$ catkin_make
 
</syntaxhighlight>
 
</tab>
 
</tabs>
 
=== Simulation ===
 
*The intera.sh shell has a special hook of *sim* for Simulation. Run the Intera shell script with sim specified:
 
<syntaxhighlight lang="bash" enclose="div">
 
$ ./intera.sh sim
 
</syntaxhighlight>
 
*Start simulation with controllers:
 
<syntaxhighlight lang="bash" enclose="div">
 
$ roslaunch sawyer_gazebo sawyer_world.launch
 
</syntaxhighlight>
 
 
 
== Smoke Test ==
 
Check if the simulator was installed and launched successfully by typing the following commands:
 
<syntaxhighlight lang="bash" enclose="div">
 
$ rosnode list
 
</syntaxhighlight>
 
This should list the nodes as [[Simulator_Architecture#Ros Nodes|here]].
 
<syntaxhighlight lang="bash" enclose="div">
 
$ rostopic list
 
</syntaxhighlight>
 
This should list the topics as [[Simulator_Architecture#Ros Topics|here]].
 
<syntaxhighlight lang="bash" enclose="div">
 
$ rostopic echo /robot/state
 
</syntaxhighlight>
 
By default, the following messages should be displayed at 100 HZ.
 
<syntaxhighlight lang="bash" enclose="div">
 
enabled: False
 
stopped: False
 
error: False
 
estop_button: 0
 
estop_source: 0
 
---
 
</syntaxhighlight>
 
 
 
== Run SDK Examples ==
 
*Start Joint Torque Springs example:
 
<syntaxhighlight lang="bash" enclose="div">
 
$ ./intera.sh sim
 
$ roslaunch sawyer_gazebo sawyer_world.launch
 
*in a new terminal*
 
$ ./intera.sh sim
 
$ rosrun intera_examples joint_torque_springs.py
 
</syntaxhighlight>
 
 
 
*Or, Start Simulated Pick and Place example:
 
<syntaxhighlight lang="bash" enclose="div">
 
$ ./intera.sh sim
 
$ roslaunch sawyer_sim_examples sawyer_pick_and_place_demo.launch
 
</syntaxhighlight>
 
 
 
For additional information on the interfaces that are implemented with this release, visit the [[API_Reference#tab=Simulator_API|Simulator API]] page.
 
 
 
==Troubleshooting==
 
*'''Please refer to the troubleshooting page Gazebo Troubleshooting '''
 
 
 
----
 

Latest revision as of 17:40, 6 April 2018

  • Installation & Configuration
    • Robot Setup|Robot Setup
    • Workstation Setup|Workstation Setup
    • Networking|Networking
    • Hello Robot|Hello Robot!
    • Hardware Components|Hardware Components
    • System_requirements | SDK Workstation Requirements
    • Workspace Guidelines | Robot Workspace Guidelines
    • Field_Service_Menu_(FSM)|Field Service Menu (FSM)
    • Time_and_NTP | Time and NTP
    • Software_Update|SDK Software Update
    • Release-Changes|SDK Release Notes
  • Concepts
    • SDK System Overview | SDK Robot-Workstation Overview
    • E-STOP and Enable Robot | E-STOP and Enable Robot
    • Arm Calibration | Arm Calibration
    • Arm Control Systems | Arm Control Systems
    • API Reference | API Reference
  • Tutorials
    • Interaction_Control_Tutorial | Interaction Control Tutorial
    • Motion_Interface_Tutorial | Motion Interface Tutorial
    • MoveIt Tutorial | MoveIt! Tutorial
    • Gazebo Tutorial | Gazebo Tutorial
  • Code Examples
    • Running Examples Overview | Running Examples Overview
    • Camera Image Display Example|Camera Image Display Example
    • Gripper Example|Gripper Example
    • Gripper Cuff Control Example|Gripper Cuff Control Example
    • Head Display Image Example|Head Display Image Example
    • Head Movement Example|Head Movement Example
    • Lights Blinking Example|Lights Blinking Example
    • IK Service Example|IK Service Example
    • Joint Position Example | Joint Position Example
    • Joint Position Waypoint Example|Joint Position Waypoint Example
    • Joint Torque Springs Example|Joint Torque Springs Example
    • Joint Trajectory Playback Example|Joint Trajectory Playback Example
    • Set_Interaction_Options_Example | Set Interaction Options Example
    • Go_To_Joint_Angles_Example | Motion Interface Go-To-Joint Angles
  • Support
    • User_Forum | User Forum

link title