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rmua19_gazebo_simulator package from rmua19_gazebo_simulator repo

rmua19_gazebo_simulator

ROS Distro
github

Package Summary

Tags	No category tags.
Version	1.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Gazebo Simulator for RoboMaster University AI Challenge 2019
Checkout URI	https://github.com/robomaster-oss/rmua19_gazebo_simulator.git
VCS Type	git
VCS Version	humble
Last Updated	2023-03-02
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	simulator gazebo ros2 robomaster
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Ignition Simulator for RoboMaster University AI Challenge 2019

Additional Links

No additional links.

Maintainers

Zhenpeng Ge

Authors

No additional authors.

README.md

rmua19_gazebo_simulator

1. 简介

rmua19_gazebo_simulator是基于Gazebo (Ignition 字母版本)的仿真环境，为RoboMaster University AI Challenge 2019中的机器人算法开发提供仿真环境，方便测试AI算法，加快开发效率。

目前rmua19_gazebo_simulator还不完善，仅提供以下功能：

在rmua19标准机器人（rmua19_standard_robot）上增加相关传感器，构建不同机器人模型:

rmua19_standard_robot_a：搭载云台相机industrial_camera和搭载激光雷达rplidar_a2，其中相机放置有在yaw轴。
rmua19_standard_robot_b：搭载云台相机industrial_camera和搭载激光雷达rplidar_a2，其中相机放置有在pitch轴。

构建RoboMaster University AI Challenge 2019简易场地(models/rmua19_battlefield):

只有围墙

RoboMaster University AI Challenge 2019标准机器人机器人模型(rmua19_standard_robot)位于rmoss_gz_resources

注意：Gazebo (Ignition 字母版本)目前依然处于快速开发期，仿真功能不完善，且可能存在Bug。

2. 基本使用

环境配置

ROS2版本要求: Humble (目前处于开发期，基于ROS2最新版本)
Gazebo仿真器版本要求: ` Fortress` (目前新版本Gazebo处于开发期)

# install gazebo dependencies
sudo apt-get install ignition-fortress libignition-cmake2-dev ros-humble-ros-gz
# install xmacro (xml macro tool for sdf)
pip install xmacro
# cd src directory of ros2 workspace 
git clone https://github.com/robomaster-oss/rmoss_interfaces -b humble
git clone https://github.com/robomaster-oss/rmoss_core -b humble
git clone https://github.com/robomaster-oss/rmoss_gazebo -b humble
git clone https://github.com/robomaster-oss/rmoss_gz_resources -b humble --depth=1
git clone https://github.com/robomaster-oss/rmua19_gazebo_simulator -b humble
# cd ros2 workspaces
cd ..
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
# cd ros2 workspace
colcon build

启动仿真环境

# ros2 launch rmua19_gazebo_simulator standard_robot_a_test.launch.py 
ros2 launch rmua19_gazebo_simulator standard_robot_b_test.launch.py 

注意：需要点击Gazebo界面上的橙红色的启动按钮

控制机器人移动

ros2 run rmoss_gz_base test_chassis_cmd.py --ros-args -r __ns:=/red_standard_robot1/robot_base -p v:=0.3 -p w:=0.3
#根据提示进行输入，支持平移与自旋

底盘采用mecanum插件控制

控制机器人云台

ros2 run rmoss_gz_base test_gimbal_cmd.py --ros-args -r __ns:=/red_standard_robot1/robot_base
#根据提示进行输入，支持绝对角度控制

云台采用位置PID控制

机器人射击

ros2 run rmoss_gz_base test_shoot_cmd.py --ros-args -r __ns:=/red_standard_robot1/robot_base
#根据提示进行输入

射击功能基于rmoss_gz中的插件ProjectileShooter，
注意：目前存在未解决BUG (某些情况下会使得物理引擎错误，造成Gazebo崩溃)

3. 简易竞赛模式1v1

目前测试中，射击功能存在已知BUG，以及可能存在其他未知BUG，请谨慎使用。

运行Gazebo仿真器

ros2 launch rmua19_gazebo_simulator simple_competition_1v1.launch.py

运行裁判系统

ros2 run rmua19_gazebo_simulator simple_competition_1v1_referee.py

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	rclcpp
	std_msgs
	geometry_msgs
	rmoss_interfaces
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ros_gz_sim
	ros_gz_bridge
	rmoss_gz_base
	rmoss_gz_cam
	rmoss_gz_resources
	rmoss_gz_plugins

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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