(Some) Robots in ROS plus Gazebo! - AS4SR/general_info GitHub Wiki

Master list provided at ROS wiki site: http://wiki.ros.org/Robots

Table of Contents

Used in current AS4SR projects:

-- Rover systems --

Turtlebot 2:

-- Manipulator systems --

WidowX arm:

Inmoov dual-manipulator system:

  • MatthewVerbryke/inmoov_ros -- amalgam of two other Inmoov repositories, being written to include a working Inmoov model in gazebo7 + ROS kinetic with the 'correct' hands
To download for use:
  • Assuming that you've already installed ROS Kinetic and Gazebo 5+, but still need to set up a workspace for this, type the following at the command prompt:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
git clone https://github.com/MatthewVerbryke/inmoov_ros.git
cd ~/catkin_ws && catkin_make
source ./devel/setup.bash
roslaunch inmoov_gazebo inmoov_world.launch

Just for fun:

  • Here's an old version of the model, which creates a flailing robot! (due to a starting pose vs. joint range mismatch)
cd ~/catkin_ws/src
git clone https://github.com/MatthewVerbryke/inmoov_ros.git
cd ~/catkin_ws/src/inmoov_ros
git checkout b8905e8002d29a94f2caa26c6e4c9398bcfda15b
cd ~/catkin_ws && catkin_make
source devel/setup.bash
roslaunch inmoov_gazebo inmoov_world.launch
  • To get back to HEAD on this, try:
cd ~/catkin_ws/src/inmoov_ros
git checkout master
Dual-arm manipulation info:
NASA Space Robotics Challenge 2016 info:

-- Combined systems --

UAV + small balsa-wood manipulator arm:

  • ((in-progress))
  • UAV = DJI Flame Wheel (suggested by Brian)
  • tutorials on creating gazebo(/sdf) files for a combined system
    • create a simple gripper: link
    • combine the two separate robotic systems: link
Gazebo model files for Aerial Manipulator (work still in-progress):

Used in other UC labs:

Used by Prof. Kelly Cohen's students in the UAV M.A.S.T.E.R. Lab:

hector_quadrotor

  • hector_quadrotor: ROS Wiki page and github page
    • keyboard control: example
      • remember to enable the motors first before you start trying to send geometry_msgs/Twist commands to /cmd_vel via rosservice call /enable_motors true
    • installation instructions: there is currently no latest stable package release under kinetic (just the `kinetic-devel` branch). You need to do a "manual" install; you have three choices of installation method for this:
      • install manually using git:
 sudo apt install ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-keyboard
 cd ~/catkin_ws/src
 git clone https://github.com/AS4SR/hector_quadrotor.git # forked from kinetic-devel branch of https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git
 git clone -b catkin https://github.com/tu-darmstadt-ros-pkg/hector_slam.git
 git clone -b catkin https://github.com/tu-darmstadt-ros-pkg/hector_localization.git
 git clone -b kinetic-devel https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
 git clone -b kinetic-devel https://github.com/tu-darmstadt-ros-pkg/hector_models.git
 cd ~/catkin_ws
 catkin_make
 source devel/setup.bash

OR

      • install using wstool:
 sudo apt install ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-keyboard
 sudo apt install python-wstool ros-kinetic-geographic-msgs
 cd ~/catkin_ws
 wstool init src https://raw.githubusercontent.com/AS4SR/hector_quadrotor/kinetic-devel/tutorials.rosinstall
 catkin_make
 source devel/setup.bash

OR

      • install using rosinstall:
 sudo apt install ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-keyboard
 rosinstall ~/catkin_ws/src /opt/ros/kinetic https://raw.githubusercontent.com/AS4SR/hector_quadrotor/kinetic-devel/tutorials.rosinstall
 cd ~/catkin_ws
 catkin_make
 source devel/setup.bash
    • run via:
      • terminal #1: roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch
      • terminal #2: (link)
 rosservice call /enable_motors true # so the "motors" will respond to `geometry_msgs/Twist` commands to `/cmd_vel`
 rosrun teleop_twist_keyboard teleop_twist_keyboard.py

sudo apt install ros-kinetic-hector-pose-estimation ros-kinetic-hector-gazebo-plugins ros-kinetic-hector-gazebo-worlds ros-kinetic-hector-sensors-description
sudo apt install ros-kinetic-gazebo-ros-control # also installs ros-kinetic-ros-control, for controller_manager and controller_interface
sudo apt install ros-kinetic-rqt-controller-interface

sudo apt install ros-kinetic-ros-controllers ros-kinetic-robot-controllers ros-kinetic-effort-controllers ros-kinetic-joint-state-controller ros-kinetic-joint-trajectory-controller # grabbing more default controllers...
sudo apt install ros-kinetic-yocs-controllers ros-kinetic-yocs-diff-drive-pose-controller ros-kinetic-yocs-safety-controller ros-kinetic-moveit-ros-control-interface ros-kinetic-moveit-sim-controller ros-kinetic-moveit-fake-controller-manager ros-kinetic-moveit-controller-manager-example # grabbing more controllers...

sudo apt ros-kinetic-hector-components-description ros-kinetic-hector-imu-tools ros-kinetic-hector-object-tracker ros-kinetic-hector-sensors-gazebo ros-kinetic-hector-worldmodel #random hector pkgs

Used by Robotics Team @UC:

For reference:

-- Rover systems --

Pioneer 3-DX:

-- Manipulator systems --

Robonaut2:

DRC (DARPA Grand Robotics Challenge) setup:

Robots related to the DRC (random-ish listing):
  • Walk-Man paper, with links to gitlab repositories: link
  • Team ViGIR github repositories, including FlexBE behavior engine: link

-- Underwater vehicles --

UWSim + freefloating_gazebo(_demo):

-- Unmanned Air Vehicles (UAVs) --

Parrot Drones:

-- Combined systems --

Turtlebot + WidowX arm (CRUMBproject)

--eof--

⚠️ **GitHub.com Fallback** ⚠️