ldemk / choko Goto Github PK

In #8 and #9 we relied on the packages from the original Turtlebot repository. However, we can't commit there. In case of parameter tuning we will need to have our own packages that control the robot.
Please, create the packages on your own repository that dublicate the execution of the localisation, navigation and mapping packages of the Turtlebot.

In the comments to this issue write the pairs of names: package from the Turtlebot repository and corresponding package from your repository.

@Jonny007 Create pull request to pull Your models into master

Create world for robot navigation.

Usefull video instruction - https://youtu.be/7McYSJFAqlU

Good text manuals:

• http://gazebosim.org/tutorials?tut=building_editor&cat=build_world
• http://gazebosim.org/tutorials?tut=ros_roslaunch&cat=connect_ros

To help You with world creation, I made own branch abench_rodog_world_example for similar project rodog (https://github.com/ldemk/rodog/tree/abench_rodog_world_example).
Check out and look through it, please.

To run simulations in different worlds, use following commands:

roslaunch rodog_gazebo rodog_with_furniture.launch
roslaunch rodog_gazebo rodog.launch
roslaunch rodog_gazebo empty_world.launch

See how directories for models, launches and worlds are organized.
See what changes were added to package.xml.

Pay attention to tag in .sdf and .world files.
Gazebo by default set it value to 1 1 1 by default, when should be 0.001 0.001 0.001. And just after save that value should be corrected manually.

Same with paths to .stl files - they should start from model://<model_name>/ to be computer independent. That moment also should be corrected by hands.

Good manual for world creation for usage in ROS - http://gazebosim.org/tutorials?tut=ros_roslaunch&cat=connect_ros

Update Your branch according to my example and I will accept this pull request.

Using a map created in #8 navigate through environment

File names in Cyrillic are bad tone - project is open and any person in world can use it.
Rename чай.stl, please

@htoss remove file table.stl from root directory, please. And make pull request to pull Your models into master branch

Main task of next lesson - run robot on Your own notebooks.
So, bring Your own laptops with ROS docker and navigation stack installed and prepared worlds for navigation.

Many Thanks.

Move all stl files into choko/choko_gazebo/models/ directory.

Using pre-defined mapping method, create a 2D map of one room.