README.md

AEROTRAIN SUMMER SCHOOL - Human-Robot Interaction Day: Gazebo World

This work is a part of the AERO-TRAIN Summer School 2024. It was presented during Day 3 - Human-Robot Interaction Day, and it is part of Tutorial 1.

Repository Description

• This repository is designed to run within a docker container as a part of the Tutorial 1, howerver it can also run locally.
• The repository includes:
  • The Gazebo world (figure).
  • The low level controller (velocity controller).
  • UDP tunnels to transmit the ROS messages (odometry and command messages) to any machine without communication constrains. In order for the UDP tunnels to work correctly, you should specify:
    • The correct destination IP and port in the odometry_client.py file
    • The correct reading IP and port in the command_server.py file
  • A downlink (command messages) delay calculator, that publish the delay in the /downlink_delay topic.

Dependencies

• gazebo_plugins

  sudo apt-get install -y ros-noetic-gazebo-plugins
  

• gazebo_ros_pkgs

  sudo apt-get install -y ros-noetic-gazebo-ros-pkgs
  

• xarco

  sudo apt-get install -y ros-noetic-xacro
  

• octomap

  sudo apt-get install -y ros-noetic-octomap ros-noetic-octomap-msgs ros-noetic-octomap-ros
  

• rqt_gui

  sudo apt-get install -y rros-noetic-rqt-gui ros-noetic-rqt-gui-py
  

• mavros

  sudo apt-get install -y ros-noetic-mavros ros-noetic-mavros-msgs
  

• mav_comm

  git clone https://github.com/ethz-asl/mav_comm.git
  

• rotors_simulator

  git clone https://github.com/ethz-asl/rotors_simulator.git
  

Clone the repository

git clone https://github.com/achilleas2942/summer_school_world.git

Run the Gazebo world locally

• Replace the pelican.xacro file from the rotors_simulator repo with the one from the summer_school_world repo

  rm <your_workspace_name>/src/rotors_simulator/rotors_description/urdf/pelican.xacro
  cp <your_workspace_name>/src/summer_school_world/models/urdf/pelican.xacro <your_workspace_name>/src/rotors_simulator/rotors_description/urdf/pelican.xacro
  

• After building, e.g.

  catkin build summer_school_world
  

  or

  catkin_make summer_school_world
  

• And sourcing your workspace, e.g.

  source <your_workspace_name>/devel/setup.bash
  

• Execute the launch file

  roslaunch summer_school_world world_map.launch
  

Troubleshooting

Consider opening an Issue if you have troubles with the exercises of the repo.
Feel free to use the Discussions tab to exchange ideas and ask questions.