Running ROS in pure simulation [closed]

edit

Re: Simulation

Personally I think a pure simulation feature should be mandatory for ROS (and its packages such as turtlebot), so researchers/engineers can see the best outcome (i.e. with zero errors), and then to basically switch on the simulated noise to get a better idea of how the solution will work in a real world with real robots.

Re: Tutorials

1) One suggestion would be to have a one-page howto for newbies, that contains a simple list of commands (and small description - with links to the full data), to get ROS up and running with (or without) a robot, to show the major features (i.e. sensor output, localisation output, mapping output, etc)

2) Also the TurtleBot tutorials seems to assume you have all the hardware. Is there a ROS tutorial to show you how to setup everything without the hardware. Basically I have a heap of personal robots I would like to get running with ROS, and I was hoping to base it off the TurtleBot - but since I don't have the TurtleBot hardware, most of the tutorials keep leading me to dead ends (since the hardware is required for most steps).

Re: Driving

I see, I thought that hitting "q" alone would move the robot forward. I see need to use i, etc - so that is now solved for me.

Re: rviz

Yeah here is the following things in red, after running "roslaunch turtlebot_navigation gmapping_demo.launch" and "rosrun rviz rviz -d rospack find turtlebot_navigation/nav_rviz.vcg"

• Robot Model -> Status: Error -> This lists a heap of errors such as: No transform from [base_footprint] to [/map]

And "roslaunch turtlebot_navigation gmapping_demo.launch" keeps saying:

[ INFO] [1334647393.669410590, 120.900000000]: [/openni_camera] No devices connected.... waiting for devices to be connected
[ INFO] [1334647394.352812232, 121.676000000]: Still waiting on map...

How do I give it a map? And the kinect error is simply because I don't have a physical kinect attached (I'm currently waiting on a power/comms cable). Any thoughts on how to deal with this errors for a pure simulation method?

Cheers,

Hi, any thoughts for my previous questions?

I'm new to ROS (however I was the co-author of a similar project DROS at http://dros.org), so please excuses my newbie questions about ROS. Anyway:

1) any good simulator should allow you to simulate the calibration steps. E.g. most DMU's have a roll bias, so the simulator should have a hard coded roll bias. Could you please point me to the tutorials to calibrate a robot in pure simulation?

2) domhege, I'm sure they are, but the tutorials are not the most easiest to find (they seem rather split across pages, and sometimes are missing vital prerequisite), can you please point me to the tutorials I should be following...

3) re drive the robot around. I've just started up the empty world simulation as shown above, then run that keyboard teleo command above, and when I press "q" a few times, the robot in the simulator doesn't not move. Any ideas what I maybe missing? Ryan, how do I "echo /cmd_vel"? can you point me to the tutorial on this?

4) Ryan, when I run that command it opens up, but I just see a black screen. Any ideas how to see the particles, kinect output, etc. And the output of "roslaunch turtlebot_navigation gmapping_demo.launch", keeps saying "[/openni_camera] No devices connected.... waiting for devices to be connected" - which seems to be looking for the real Kinect hardware - so how do I tell it to use a simulated Kinect?

Hi McMurdo,

How did you get teleop working, as the above command doesn't work for me - I've been RTFM, but not luck as yet ;) - any ideas?

What about viewing the Kinect sensor output in simulation, or path planning, or SLAM output? - Any ideas?

Cheers,