From 14847c26de438f86b92b2969b57f3eb706d2996e Mon Sep 17 00:00:00 2001 From: Jarek Karwowski Date: Mon, 25 Sep 2023 20:37:03 +0200 Subject: [PATCH] `hubero_bringup_gazebo_ros` - README updated --- hubero_bringup_gazebo_ros/README.md | 21 +++++++++++++-------- 1 file changed, 13 insertions(+), 8 deletions(-) diff --git a/hubero_bringup_gazebo_ros/README.md b/hubero_bringup_gazebo_ros/README.md index 3068a36..9e6796a 100644 --- a/hubero_bringup_gazebo_ros/README.md +++ b/hubero_bringup_gazebo_ros/README.md @@ -4,11 +4,11 @@ Package contains `.launch` files, `.pgm` maps and `.world` files for evaluation ## Prerequisites -Before you try to run exemplary worlds, you need to setup Gazebo simulator with a required set of models (used in provided worlds). Visit [Gazebo setup wiki page](https://github.com/rayvburn/hubero/wiki/Gazebo-setup) and start with setup of `3DGems` model pack (this is required, rest may be optional depending on your system configuration). +Before you try to run exemplary worlds, you need to set up the Gazebo simulator with a required set of models (used in provided worlds). Visit the [Gazebo setup wiki page](https://github.com/rayvburn/hubero/wiki/Gazebo-setup) and start setting up the `3DGems` model pack (this one is required, others may be optional depending on your system configuration). ## Run -Before a launch of an exemplary world one must apply both ROS workspace and Gazebo configurations: +Before the launch of an exemplary world, one must apply both ROS workspace and Gazebo configurations: ```bash source /devel/setup.bash @@ -21,7 +21,7 @@ Then, `parking` world, defined for Gazebo, with all necessary Actor interfaces ( roslaunch hubero_bringup_gazebo_ros example.launch world:=parking rviz:=true ``` -If all went OK, after few seconds after start you should see `move_base` log: +If all went OK, after few seconds after the start you should see `move_base` log: ```console [ INFO] [1643660811.668211218, 8.331000000]: odom received! @@ -65,11 +65,16 @@ Generally, one should use the exemplary worlds definitions as a reference to add ## ROS interface -Actors will not have mobility skills without connection with ROS Navigation stack. Also, Actors will not be able to receive task requests without connection to ROS topics. Use `example.launch` parameter definitions to properly define new Actor interfaces. +Actors will not have mobility skills without the connection with ROS Navigation stack. Also, Actors will not be able to receive task requests without connection to ROS topics. Use `example.launch` parameter definitions to properly define new Actor interfaces. ## Gazebo world map -To create an ideal map of the Gazebo world one may use [`pgm_map_creator`](https://github.com/hyfan1116/pgm_map_creator) package. Examples of use are provided in `maps/*.yaml` files. +To create an ideal map of the Gazebo world one may use `pgm_map_creator`: + +- [`hyfan1116/pgm_map_creator`](https://github.com/hyfan1116/pgm_map_creator) with ROS Kinetic and Ubuntu 16.04 +- [`Cyclohexene/pgm_map_creator`](https://github.com/Cyclohexene/pgm_map_creator) with ROS Melodic and Ubuntu 18.04 (needs testing) + +Examples of use are provided in `maps/*.yaml` files. One must remember to place/uncomment `collision_map_creator` plugin definition in the `.world` file: @@ -79,13 +84,13 @@ One must remember to place/uncomment `collision_map_creator` plugin definition i ## Debugging -`example.launch` provides a possibility to debug Actor controller plugin. First, user should extend `GAZEBO_PLUGIN_PATH`: +`example.launch` provides a possibility to debug the `Actor` controller plugin. First, the user should extend `GAZEBO_PLUGIN_PATH`: ```bash -export GAZEBO_PLUGIN_PATH=/lib:$GAZEBO_PLUGIN_PATH +export GAZEBO_PLUGIN_PATH=/devel/.private/hubero_gazebo/lib:$GAZEBO_PLUGIN_PATH ``` -Then, run Gazebo world with the required plugins. ROS1 distro should be adjusted by user: +Then, run the Gazebo world with the required plugins. ROS1 distro should be adjusted by the user: ```bash gazebo -s /opt/ros/kinetic/lib/libgazebo_ros_paths_plugin.so -s /opt/ros/kinetic/lib/libgazebo_ros_api_plugin.so /parking.world