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[[File:gazebo_logo.png|Gazebo Logo|500px]]<br /> | [[File:gazebo_logo.png|Gazebo Logo|500px]]<br /> | ||
− | '''[http://gazebosim.org/tutorials Please visit the Gazebo Tutorials homepage for more information]''' | + | '''[http://gazebosim.org/tutorials Please visit the Gazebo Tutorials homepage for more information about the Physics simulator]''' |
</div> | </div> | ||
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== Installation/Prerequisites == | == Installation/Prerequisites == | ||
− | *Make sure you have followed the [ | + | *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: | *Ensure the following software packages are installed: | ||
<tabs> | <tabs> | ||
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<tab name="ROS Kinetic"> | <tab name="ROS Kinetic"> | ||
<syntaxhighlight lang="bash" enclose="div"> | <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 | + | $ 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 |
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</syntaxhighlight> | </syntaxhighlight> | ||
</tab> | </tab> | ||
</tabs> | </tabs> | ||
− | == | + | == Sawyer Simulator Installation == |
<tabs> | <tabs> | ||
− | <tab name="ROS | + | <tab name="ROS Kinetic"> |
*From your catkin workspace where the SDK resides, use wstool to install and update: | *From your catkin workspace where the SDK resides, use wstool to install and update: | ||
− | ==== Install | + | ==== Install sawyer_simulator ==== |
<syntaxhighlight lang="bash" enclose="div"> | <syntaxhighlight lang="bash" enclose="div"> | ||
+ | $ mkdir -p ~/ros_ws/src | ||
$ cd ~/ros_ws/src | $ cd ~/ros_ws/src | ||
− | $ | + | $ git clone https://github.com/RethinkRobotics/sawyer_simulator.git |
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$ cd ~/ros_ws/src | $ cd ~/ros_ws/src | ||
$ wstool init . | $ wstool init . | ||
− | $ wstool merge | + | $ wstool merge sawyer_simulator/sawyer_simulator.rosinstall |
$ wstool update | $ wstool update | ||
</syntaxhighlight> | </syntaxhighlight> | ||
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$ catkin_make | $ catkin_make | ||
</syntaxhighlight> | </syntaxhighlight> | ||
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</tab> | </tab> | ||
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</tabs> | </tabs> | ||
=== Simulation === | === Simulation === | ||
− | *Run the | + | *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"> | <syntaxhighlight lang="bash" enclose="div"> | ||
− | $ ./ | + | $ ./intera.sh sim |
</syntaxhighlight> | </syntaxhighlight> | ||
*Start simulation with controllers: | *Start simulation with controllers: | ||
<syntaxhighlight lang="bash" enclose="div"> | <syntaxhighlight lang="bash" enclose="div"> | ||
− | $ roslaunch | + | $ roslaunch sawyer_gazebo sawyer_world.launch |
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</syntaxhighlight> | </syntaxhighlight> | ||
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== Run SDK Examples == | == Run SDK Examples == | ||
− | *Start | + | *Start Joint Torque Springs example: |
<syntaxhighlight lang="bash" enclose="div"> | <syntaxhighlight lang="bash" enclose="div"> | ||
− | $ ./ | + | $ ./intera.sh sim |
− | $ rosrun | + | $ roslaunch sawyer_gazebo sawyer_world.launch |
+ | *in a new terminal* | ||
+ | $ ./intera.sh sim | ||
+ | $ rosrun intera_examples joint_torque_springs.py | ||
</syntaxhighlight> | </syntaxhighlight> | ||
− | *Start | + | |
+ | *Or, Start Simulated Pick and Place example: | ||
<syntaxhighlight lang="bash" enclose="div"> | <syntaxhighlight lang="bash" enclose="div"> | ||
− | $ ./ | + | $ ./intera.sh sim |
− | $ | + | $ roslaunch sawyer_sim_examples sawyer_pick_and_place_demo.launch |
</syntaxhighlight> | </syntaxhighlight> | ||
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For additional information on the interfaces that are implemented with this release, visit the [[API_Reference#tab=Simulator_API|Simulator API]] page. | For additional information on the interfaces that are implemented with this release, visit the [[API_Reference#tab=Simulator_API|Simulator API]] page. | ||
==Troubleshooting== | ==Troubleshooting== | ||
− | *'''Please refer to the troubleshooting page | + | *'''Please refer to the troubleshooting page Gazebo Troubleshooting ''' |
---- | ---- |
Latest revision as of 16:29, 14 March 2018
This tutorial describes how to use Sawyer with Gazebo the standard Physics Simulator for ROS.
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:
$ 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
Sawyer Simulator Installation
- From your catkin workspace where the SDK resides, use wstool to install and update:
Install sawyer_simulator
$ 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
IMPORTANT: Make sure all simulator repositories update to their proper branch.
Build Source
$ source /opt/ros/kinetic/setup.bash
$ cd ~/ros_ws
$ catkin_make
Simulation
- The intera.sh shell has a special hook of *sim* for Simulation. Run the Intera shell script with sim specified:
$ ./intera.sh sim
- Start simulation with controllers:
$ roslaunch sawyer_gazebo sawyer_world.launch
Smoke Test
Check if the simulator was installed and launched successfully by typing the following commands:
$ rosnode list
This should list the nodes as here.
$ rostopic list
This should list the topics as here.
$ rostopic echo /robot/state
By default, the following messages should be displayed at 100 HZ.
enabled: False
stopped: False
error: False
estop_button: 0
estop_source: 0
---
Run SDK Examples
- Start Joint Torque Springs example:
$ ./intera.sh sim
$ roslaunch sawyer_gazebo sawyer_world.launch
*in a new terminal*
$ ./intera.sh sim
$ rosrun intera_examples joint_torque_springs.py
- Or, Start Simulated Pick and Place example:
$ ./intera.sh sim
$ roslaunch sawyer_sim_examples sawyer_pick_and_place_demo.launch
For additional information on the interfaces that are implemented with this release, visit the Simulator API page.
Troubleshooting
- Please refer to the troubleshooting page Gazebo Troubleshooting