doogie_gazebo

doogie_gazebo

This ROS catkin package provides all launchfiles required in order to simulate Doogie Mouse in Gazebo.

Keywords: Micromouse, IEEE, Gazebo, ROS

Author: Caio Amaral
Affiliation: BIR - Brazilian Institute of Robotics
Maintainer: Caio Amaral, [email protected]

Supported Versions

The doogie_gazebo package has been tested under ROS Kinetic and Ubuntu 16.04 using Gazebo 7.0.0 (the one that comes with ROS Kinetic Desktop-full installation).

Dependencies

• gazebo_ros (provides all ROS message and service publishers for interfacing with Gazebo through ROS),
• gazebo_ros_control (package to integrate ros_control to Gazebo)
• gazebo_plugins (package to provide independent Gazebo plugins for sensors, models, etc.),
• doogie_description (package with doogie URDF),
• doogie_control (package with doogie ros controllers);

Table of Contents

• doogie_gazebo
  • Supported Versions
  • Dependencies
• Table of Contents
  • Publications
• Launch files
• Controllers Used
• Topics
• Gazebo Communication

Publications

If you use this work in an academic context, please cite the following publication(s):

• C. Amaral, M. Santos Meneses: DOOGIE MOUSE: UMA PLATAFORMA OPEN SOURCE PARA APLICAÇÃO DE ALGORITMOS INICIAIS DE INTELIGÊNCIA ARTIFICIAL EM ROBÓTICA MÓVEL. V SIINTEC International Symposium on Innovation and Technology, 2019. (PDF)

  @inproceedings{Doogie2019,
     author = {Amaral, C. and Santos Meneses, M. },
     booktitle = {V SIINTEC International Symposium on Innovation and Technology},
     title = {{DOOGIE MOUSE: UMA PLATAFORMA OPEN SOURCE PARA APLICAÇÃO DE ALGORITMOS INICIAIS DE INTELIGÊNCIA ARTIFICIAL EM ROBÓTICA MÓVEL}},
     publisher = {CIMATEC},
     year = {2019}
  }
  

---

Launch files

1. robot_launch.launch: spawn Doogie Mouse at Gazebo empty.world

• Arguments to set Doogie Mouse spawn

  • robot_name: specifie a nickname for Doogie Mouse when in gazebo.

    • Default: doogie

  • x: set x position coordinate where the robot will be spawned.

    • Default:0.0

  • y: set y position coordinate where the robot will be spawned.

    • Default:0.0

  • z: set z position coordinate where the robot will be spawned.

    • Default: 0.02 --> This will probably change to '0.0' in final version

• Arguments to set Maze spawn

  • **maze_name:**specifie wich maze will be loaded and its name.

• Arguments to set Gazebo World

  • paused: start Gazebo in a paused state.

    • Default: false.

  • use_sim_time: tells if nodes will use time published at /clock.

    • Default: true

  • gui: load Gazebo user interface display.

    • Default: true

  • debug: start Gazebo Server (gzserver) at debug mode using gdb.

    • Default: false

  • physics: specifie wich physics engine will be used by Gazebo.

    • Default: ode

  • verbose: run gzserver and Gazebo Client (gzclient)in verbose mode (i.e, printing errors and warnings to the terminal).

    • Default: false

  • world_name: tells gazebo which world will be loaded.

    • Default: worlds/empty_world

  Note: the world_name path is with respect to GAZEBO_RESOURCE_PATH environmental variable.

2. maze_launch.launch: Only spawn the maze inside simulation, needs Gazebo launch before using it.

   • Arguments to set Maze spawn

     • maze_name: specifie wich maze will be loaded and its name.

Controllers Used

doogie_gazebo uses gazebo_ros_control to provide simulation some of the default controllers used by ROS. The ros_controllers used in this simulation are:

• move_base_controller (diff_drive_controller/DiffDriveController)
• joint_publisher (joint_state_controller/JointStateController)

Futhermore, this package also uses some sensors plugins from gazebo_plugins. Currently it's only using:

• gazebo_ros_range (plugin used here to simulate the IR sensors)

gazebo_ros_control and each of the gazebo_plugins used here in the simulation was previously declared in Doogie Mouse's URDF, check doogie_description, and defined in doogie_control.

Topics

• /move_base_controller/cmd_vel : (geometry_msgs/Twist)

  Publish linear (m/s) and angular (rad/s) Doogie's velocity, by default it's using diff_drive_controller. This is the one used to move Doogie Mouse in Gazebo by controlling its velocity.

-/move_base_controller/odom : (nav_msgs/Odometry)

Publish Doogie's current estimated position and velocity.

• /joint_states : (sensor_msgs/JoinState)

  Publish Doogie's wheels position (rad) and velocity (rad/s). This is the one used to read Doogie Mouse velocity data.

Gazebo Communication

gazebo_ros provides its own communication interface, for more details you may refer to:

Gazebo Topics

Gazebo Parameters

Gazebo Services