Dolly the robot

It’s a sheep, it’s a dolly, it’s a following robot. Born to be cloned.

Packages for launching Dolly demo, which uses ROS 2 and either Gazebo or Ignition.

Gazebo	Ignition

Versions

Dolly is known to work on the following systems.

Packages

This repository contains the following packages:

• dolly: Metapackage which provides all other packages.
• dolly_follow: Provides node with follow logic.
• dolly_gazebo: Robot model, simulation world and launch scripts for Gazebo-classic.
• dolly_ignition: Robot model, simulation world and launch scripts for Ignition.
• dolly_tests: Simulation-based automated tests

Install

It’s encouraged that you build Dolly from source, to learn about how to develop your own packages. But in case you just want to give it a quick try, there are binaries available too.

From binaries

Dolly has been released into several ROS distros. These are the currently supported ones:

From source

Install instructions for Ubuntu Bionic.

1. Install at least one simulator, Gazebo or Ignition

2. Install the appropriate ROS 2 version as instructed here.

3. Clone Dolly, choose the branch according to your ROS distro:

    mkdir -p ~/ws/src
    cd ~/ws/src
    git clone https://github.com/chapulina/dolly -b <distro>
   

4. Install dependencies:

    cd ~/ws
    rosdep install --from-paths src --ignore-src -r -y
   

5. Build and install:

    cd ~/ws
    colcon build
   

Run

Gazebo-classic

If you had Gazebo installed when compiling Dolly’s packages, Gazebo support should be enabled.

1. Setup environment variables (the order is important):

    . /usr/share/gazebo/setup.sh
    . ~/ws/install/setup.bash
   

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