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concert_service_gazebo package from concert_services repo

concert_service_admin concert_service_gazebo concert_service_image_stream concert_service_indoor_2d_map_prep concert_service_teleop concert_service_turtlesim concert_service_waypoint_navigation concert_services

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.1.12
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/robotics-in-concert/concert_services.git
VCS Type	git
VCS Version	indigo
Last Updated	2015-07-09
Dev Status	DEVELOPED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Sets up the gazebo robot manager as a service to assist in spawning/killing robots as concert clients.

Additional Links

Maintainers

Daniel Stonier
Piyush Khandelwal

Authors

Daniel Stonier
Piyush Khandelwal

concert_service_gazebo/README.md

Using the Concert Framework with Gazebo (the short short version)

There is some code that is robot-agnostic. All that code is in this package in the GazeboRobotManager Module

GazeboRobotManager

Creates concert clients for each robot
Flips necessary information to that robot’s concert client, so that it can pretend to be a real robot.

Unfortunately, a lot of code depends on the robot that you are going to simulate. For each robot, you’ll have to implement a module specific to that robot. An abstract module detailing this API is RobotManager

RobotManager

Specifies how to spawn the robot in Gazebo
Specifies how to delete the robot in Gazebo
Specifies which information needs to be flipped over. If you’re doing teleop, cmd_vel is sufficient. If you want to do full navigation, you’ll have to supply tf,map,sensory information and odometry as well.
Specifies how each concert client for these simulated robots should be created.

Some other things to consider

The concert solution and all subsequent concert clients need to be started with /use_sim_time set to true.
Since all robots are being simulated on a single master, the tf tree needs tobe properly namespaced for each robot. Furthermore, applications run by this spawned concert clients need to use this namespaced tf tree.

Robot configuration Parameter

Example parameter

robots:
  - name: guimul
    type: kobuki
    robot_rapp_whitelist: [rocon_apps, concert_service_gazebo]
    location: [0.0, 0.0, 0.0]
  - name: gamza 
    type: turtlebot
    robot_rapp_whitelist: [rocon_apps, concert_service_gazebo]
    location: [0.0, -2.0, 3.14159265359]
  - name: doldol
    type: segbot
    robot_rapp_whitelist: [rocon_apps, concert_service_gazebo]
    location: [0.0, 4.0, 0.0]
types:
  - name: kobuki 
    launch: concert_service_gazebo/kobuki.launch
    flip_rule:
      pub:
        - odom
      sub:
        - mobile_base/.*
  - name: turtlebot
    launch: concert_service_gazebo/turtlebot.launch
    flip_rule:
      pub:
        - odom
        - camera/.*
      sub:
        - cmd_vel_mux/.*
  - name: segbot
    launch: concert_service_gazebo/segbot.launch 
    flip_rule:
      pub:
        - odom
        - scan_filtered
      sub:
        - cmd_vel
world_file: concert_service_gazebo/empty_world.world

An example

Take a look at the concert_tutorials/gazebo_concert demo in the rocon_tutorials repository.

Install Rocon:

wstool init . https://raw.githubusercontent.com/robotics-in-concert/rocon_demos/gazebo_concert/gazebo_solution.rosinstall

Run the demo:

> roslaunch gazebo_solution concert.launch --screen
> rocon_remocon # Teleop..

> roslaunch office_sim_solution concert.launch --screen
> rocon_remocon # Teleop..

CHANGELOG

Changelog for package concert_service_gazebo

0.1.12 (2015-07-09)

gazebo is now headless. viewer is now interactions closes #32
Contributors: Jihoon Lee

0.1.11 (2015-04-27)

0.1.10 (2015-04-06)

0.1.9 (2015-03-23)

0.1.8 (2015-02-27)

Update link to example in README At 6497f837e14672ebc05319534e1c4f8cbeb1860e of the rocon_demos repository (https://github.com/robotics-in-concert/rocon_demos), gazebo_solution was migrated to the rocon_tutorials repository (https://github.com/robotics-in-concert/rocon_tutorials) and renamed to "gazebo_concert". Compare with commit c92d9e40938f0b3e75979a7cba7dc52ceaf572c1 of rocon_tutorials.
Contributors: Scott Livingston

0.1.7 (2015-02-09)

0.1.6 (2015-01-05)

add robot gazebos as runpdend fixes #36
update install rule for concert service gazebo fixes #34
remove topic_relay closes #35
Contributors: Jihoon Lee

0.1.5 (2014-12-05)

rename gazebo service
Contributors: Jihoon Lee

0.1.4 (2014-11-21)

0.1.3 (2014-11-21)

0.1.2 (2014-11-21)

add workflow description closes #29
rename sim to simulation
remove unncessary rapps. they are now together with rapps for real robots
now use turtlebot_rapps. add playground
sim param passing
typo in camera flipping
Merge branch 'indigo' into use_package_export
topic_relay script has migrated to rocon_python_utils
leave segbot export as an example
use package export to load robot types
disable mux for smoother for now.
make a map service with scan and robot pose remapping
add make a map service
now velocity smoother works in turtlebot. /clock flips by default
now gazebo uses world_file in service parameter
update readme
tf fix
now teleoping three robots are working
Merge branch 'indigo' into gazebo_upgrade
flips working
flip_rule added
now all three models are loading
Contributors: Daniel Stonier, Jihoon Lee

0.1.1 (2014-08-26)

update for the new rocon launch api, closes #15
use proper lists for hubs/concerts now roslaunch can handle it.
updated robot.launch to reflect recent changes to concert_client.launch
Updating readme to reflect package name changes After a bit of thought, I've renamed the segbot specific packages. I've updated the readme here to reflect that change.
minor bugfix for the teleop app due to recent refactoring.
eclipse files and add to metapackage.
Revert "renamed segbot_rocon to rocon_segbot" This reverts commit 31fa619b08f7798f48bef7f8004a618c3f106c17.
renamed segbot_rocon to rocon_segbot
changed to an unordered list
added a README
added documentation
all concerts started through this service should use simulated time
fixed package.xml and remove dependencies that were not needed
removed segbot and turtlebot specific components, moved segbot components to segbot specific repository
added new icon file
gazebo service now up and running! need to orchestrate teleoperation and navigation
ready to test with full concert service scenario
basic version is working, but correct running is order dependent. needs investigation...
started some initial tests of the gazebo segbot manager, although outside the services framework
some changes from yesterday for the gazebo service. Need to look at this in more detail tonight
ready for testing on the concert
a bit more work towards adding the gazebo service
separating robot specific components from the gazebo_robot_manager
separated turtlebot and segbot files. now ready to implement segbot_robot_manager
some initial testing with launch multiple turtlebots and segbots in gazebo outside the concert framework
initial commit for concert_service_gazebo
Contributors: Daniel Stonier, Piyush Khandelwal

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	gateway_msgs
	rocon_std_msgs
	rocon_console
	rocon_gateway_utils
	rocon_launch
	rocon_python_utils
	rospy
	roslib
	kobuki_gazebo
	turtlebot_gazebo

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
concert_services

Launch files

launch/robot.launch
- Launches the infrastructure running on a robot.
- - robot_name [default: robot]
  - robot_type [default: pc]
  - robot_rapp_whitelist [default: []]
  - robot_concert_whitelist [default: []]
robots/turtlebot/turtlebot.launch
- - name
  - loc_x
  - loc_y
  - loc_z
  - loc_roll
  - loc_pitch
  - loc_yaw
  - world_namespace
  - base_prefix [default: mobile_base]
  - base [default: kobuki]
  - stacks [default: hexagons]
  - 3d_sensor [default: kinect]
  - urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
robots/segbot/segbot.launch
- - name
  - loc_x
  - loc_y
  - loc_z
  - loc_roll
  - loc_pitch
  - loc_yaw
  - world_namespace
  - robot_name [default: $(arg name)]
  - use_full_gazebo_model [default: true]
  - urdf_file [default: $(find segbot_description)/robots/segbot_hokuyo.urdf.xacro]
robots/kobuki/kobuki.launch
- - name
  - loc_x
  - loc_y
  - loc_z
  - loc_roll
  - loc_pitch
  - loc_yaw
  - world_namespace
  - use_full_gazebo_model [default: true]
  - base_prefix [default: mobile_base]
services/gazebo_robot_world/gazebo_robot_world.launch
- - use_sim_time [default: true]
  - world [default: gazebo]
  - debug [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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