How to Run InsperBot on Gazebo - Insper/insperbot GitHub Wiki
NOTE: This instruction was tested on Linux with Ubuntu 20.04 and ROS1 Noetic.
This is the virtual version of InsperBot, He was built by the technical team of Insper's Computer Engineering laboratory, using as base the Turtlebot3 Burger, the InsperBot is a low cost ROS standard platform robot simulated on Gazebo.
Requeriments
- Ubuntu 20.04
- ROS Noetic
- Opencv4
NOTE: We have a guide for setup your system with this Requirements here
How to Run
clone the repository:
git clone https://github.com/Insper/insperbot.git
cd ~/catkin_ws
catkin_make
Edit .bashrc
Add this lines in your .bashrc
export TURTLEBOT3_MODEL=burger
export LC_NUMERIC="en_US.UTF-8"
export GAZEBO_MODEL_PATH=$HOME/catkin_ws/src/insperbot/models:
Choose one of the scenarios available here or create your own by following this guide
To Enable gripper control
roslaunch insperbot arm_control.launch
How to control the robot’s gripper
Arm (joint1):
Up: 1.5
Forward : 0
Down : -1.5
rostopic pub -1 /joint1_position_controller/command std_msgs/Float64 "data: 0"
Gripper (joint2 and joint3)
Closed: 0
Open: -1
rostopic pub -1 /joint2_position_controller/command std_msgs/Float64 "data: 0"
Past Projects Videos
Virtual robot:
https://www.youtube.com/playlist?list=PLVU3UhXa4-X9ZWrIV37l9ckvalaP5KiE9
Real and virtual robot:
https://www.youtube.com/playlist?list=PLVU3UhXa4-X-qIlNL6NVvIizOXXJkkkU1