Category Archives: The ROS simulator

Work done on creating a simulator of the robot for ROS

Manual to recreate the original software installation for CRUMB

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Here you can download a manual (written in Spanish by Sergio González-Muriel) for doing a fresh installation of the original software suite shipped with the Crumb robot (Turtlebot + WidowX arm) and its Gazebo simulators. This installation uses an old version of Ubuntu and the other sw (e.g., ROS) because of dependencies of some packages with old software.

Recall that we have a GitHub repository for CRUMB.

Here you can download some packages that have to be installed as they are.

UPDATE [Feb 2020]: Here you can download another manual (in English) for replicating the CRUMB software using newer versions of ROS and Ubuntu.

CRUMB in RViz

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We have completed the robot model in ROS. To incorporate the Widow-X arm on the Turtlebot platform, we have to include these lines in the xacro file:

<joint name="fixed" type="fixed">
<parent link="plate_top_link"/>
<child link="${prefix}arm_base_link"/>
</joint>

And we have to add the Turtlebot library and the Turtlebot:

<xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_library.urdf.xacro"/>

<kobuki/>
<stack_hexagons parent="base_link"/>
<sensor_kinect  parent="base_link"/>

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The figure shows CRUMB in Rviz and, similarly to Widow-X, we can use joint_state_publisher node to test the model.

The packages to simulate Widow-x and CRUMB will be uploaded soon 🙂

How to simulate Turtlebot in Ros/Gazebo?

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To simulate Turtlebot platform in Ros Indigo/Gazebo, we have to install turtlebot packages:

sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

When the installation finishes, write in the terminal:
source /opt/ros/indigo/setup.bash
roslaunch turtlebot_gazebo turtlebot_world.launch

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And, to move the Turtlebot model, open a new terminal and write:
source /opt/ros/indigo/setup.bash
roslaunch turtlebot_teleop keyboard_teleop.launch

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