ROS launch scripts to run the Programming Robots Study Group robot (PRSG2) in the STDR simulator. This is a self-contained ROS node.
Prerequisite:
The STDR package must be installed on your ROS system. These should be available on your Ubuntu system (e.g. apt-cache search stdr
). If you are using the ServoPose read and write services (so that your sensors can move on servos), install from source.
Installation:
Copy the stdr_prsg2/
directory tree into your ROS catkin_ws/src/
directory. Then perform a catkin_make
to install. This uses ROS Kinetic, but other versions will likely work.
Directories:
-
launch/
-
stdr_prsg2.launch
is the main launch script that creates the PRSG robot in a maze, begins bagging topics and starts a teleop node so that you drive the robot around. Usage:roslaunch stdr_prsg2.launch
. To turn off bagging:roslaunch stdr_prsg2.launch record_sensors := false
-
rviz.launch
launches rviz with the robot displayed on the maze. Usage: afterstdr_prsg2.launch
has been launched, in a different window:roslaunch rviz.launch
-
plotbag_stdr.py
is python script that plots the rosbag of topic data collected fromstdr_prsg2.launch
. Edit the file so thatbagfile
points to the created bag file.
-
-
robots/
is where the PRSG2 robot model YAML files are located.prsg2_jay_robot.yaml
is the YAML file for Jay's two servo-mounted IR sensor robot.