Simulation - lukasholtkamp/b.ob GitHub Wiki

Running the Simulation

To run the simulation on your laptop, follow these steps:

  1. Open your terminal and navigate to the b.ob folder:

    cd b.ob/

  2. Change /path/to/your to your own path. For example:/home/bertrandt/b.ob/src/map2gazebo/models/Then, execute the following commands:

    git checkout Simulation-base
colcon build

export GAZEBO_MODEL_PATH=/home/path/to/your/b.ob/src/map2gazebo/models/
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/path/to/your/b.ob/src/pedsim/pedsim_gazebo_plugin/models
export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/home/path/to/your/b.ob/src/pedsim/pedsim_gazebo_plugin/worlds
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/home/path/to/your/b.ob/src/pedsim/pedsim_gazebo_plugin/src

source /usr/share/gazebo/setup.sh

source install/setup.bash

You can run the simulation in two modes:

With Static Obstacles

ros2 launch bob_simulation launch_sim.launch.py

With Dynamic Obstacles

ros2 launch bob_simulation launch_sim_people.launch.py

Creating URDF Files

The Unified Robotics Description Format (URDF) is an XML specification widely used in both academia and industry to model multibody systems such as robotic arms for assembly lines and animatronic robots for theme parks. URDF is particularly popular among users of the Robotics Operating System (ROS).

How to Create a URDF File for B.Ob

To learn how to create a URDF file for B.Ob, watch the following tutorial video: Creating a rough 3D model of our robot with URDF

Rviz

If you want to view sensor data on Rviz, in a separate terminal run:

rviz2

Displaying topics

Here you can find the different things that can be displayed in rviz: http://wiki.ros.org/rviz/DisplayTypes

Gazebo

Building a World

To build a new world in Gazebo, follow these steps:

1. Open your terminal and type:

gazebo

This will open the Gazebo environment.

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2. To add objects and create your own world, go to the "Insert" tab.

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3. You can add objects using the symbols where the green circle is located. To change the position, orientation, etc., use the symbols in the red circle.

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4. After creating your world, press Ctrl + Shift + S and save your world with a .world file extension (e.g., my_world.world).

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5. If you want to respawn B.Ob in your world, move your saved world file to the bob_simulation/worlds/ directory.

6. Edit the launch_sim.launch.py file in this directory and update the world_filename variable with the name of your world.

For example:

world_filename = "my_world.world"

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7. Then run

colcon build
source install/setup.bash
ros2 launch bob_simulation launch_sim.launch.py

to respawn B.ob in your world

  • Note: If you want to edit your world make sure you remove bob from gazebo.

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Ped Sim

TBD

Building a scenario

TBD