Fetch robot navigation in Gazebo 7 using ROS Sharp and File Server on ROS Kinetic

asked 2018-11-23 05:51:45 -0600

Saai Sundar gravatar image

updated 2018-11-28 00:53:02 -0600

Hi,

I'm trying to reuse the ROS Sharp connector from Unity 3D to control the Fetch robot within Gazebo (which was earlier used to control the Turtlebot2 robot). I've copied the fetch_gazebo package and renamed it to fetch_custom_gazebo (along with respective changes made to its launch file as well). I've also imported the Fetch robot model URDF into Unity3D and initialized the ROS Sharp connector with its base.

I've also created a copy of the file_server package and renamed it to fetch_file_server. I've been able to alter all other parameters so far but I'm stuck with these environment variables used for Turtlebot within the launcher of the file_server package. I'm not able to figure out where these environment variables were initialized, and I'm not sure how to create similar environment variables for the Fetch robot.

I'm using the Fetch Gazebo 7 package (on ROS Kinetic) from this link for this implementation' https://github.com/fetchrobotics/fetc...

Here's the launcher code with the environment variables. I want to change this with the relevant params for the Fetch robot. This might be a very basic question, but I'm a newbie to ROS and any help in this regard will be much appreciated.

<launch>

<include file="$(find file_server)/launch/ros_sharp_communication.launch">
    <param name="port" value="9090"/>
</include>

<arg name="base"  default="$(env TURTLEBOT_BASE)" />
<arg name="stacks"  default="$(env TURTLEBOT_STACKS)" />
<arg name="3d_sensor"  default="$(env TURTLEBOT_3D_SENSOR)"/>
<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'" />

<param name="robot/name" value="Turtlebot2"/>   
<param name="robot_description" command="$(arg urdf_file)" />

</launch>

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