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hello,
i want to tell a roboter where to move to in rviz (with the 2D Nav Goal) and simulate that in gazebo. does that work? and if yes, how?
thanks in advance
ps.: sry for the noobie-question, but i really don't what to do.
Setup a navigation stack for your robot, see the turorial http://ros.org/wiki/navigation/Tutorials/RobotSetup. Then use gazebo for the robot simulation and from rviz send commands to /move_base topic (another tutorial http://ros.org/wiki/navigation/Tutorials/Using_rviz_with_the_Navigation_Stack.
If your robot already moves in gazebo you should do the following steps to move your robot in rviz:
include the p3d plugin in your robotname.gazebo.xacro file:
<xacro:if value="$(arg ground_truth)"> <gazebo> <plugin name="ground_truth" filename="libgazebo_ros_p3d.so"> <framename>world</framename> <bodyname>base_footprint</bodyname> <topicname>/gazebo/$(arg robot_name)/odom</topicname> <updaterate>100.0</updaterate> </plugin> </gazebo> </xacro:if>
transform ground truth pose to tf (include this in your main launch file:)
<node name="odom_to_tf" pkg="message_to_tf" type="message_to_tf"> </node>
Now launch your project and now you should be able to select in rviz->global options -> fixed frame world.
Just use pr2_mechanism to write a plugin for your robot to control it in Gazebo. You could follow this tutorial: PR2 Mechanism. It's quite convenient to do your task with a Cartesian controller.
Asked: 2012-08-16 23:00:06 -0500
Seen: 4,399 times
Last updated: Dec 08 '17
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