{"id":207,"date":"2015-12-01T14:32:50","date_gmt":"2015-12-01T13:32:50","guid":{"rendered":"http:\/\/babel.isa.uma.es\/crumb\/?p=207"},"modified":"2016-04-04T19:41:27","modified_gmt":"2016-04-04T18:41:27","slug":"first-steps-with-ros","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/2015\/12\/01\/first-steps-with-ros\/","title":{"rendered":"First steps with ROS"},"content":{"rendered":"<p lang=\"en-GB\">In this first post we have simulated <a href=\"http:\/\/www.trossenrobotics.com\/widowxrobotarm\" target=\"_blank\">Widow-X arm<\/a> in <a href=\"http:\/\/wiki.ros.org\/indigo\" target=\"_blank\">ROS\/Indigo<\/a>. There are several simulators available in ROS, for instance:<\/p>\n<p lang=\"en-GB\">&#8211; <a href=\"http:\/\/moveit.ros.org\/\" target=\"_blank\">MoveIt!<\/a>, which is a motion planning.<\/p>\n<p lang=\"en-GB\">&#8211; <a href=\"http:\/\/playerstage.sourceforge.net\/index.php?src=stage\" target=\"_blank\">Stage<\/a>, very useful to 2D navigation.<\/p>\n<p lang=\"en-GB\">&#8211; <a href=\"http:\/\/gazebosim.org\/\" target=\"_blank\">Gazebo<\/a>, tool to test algorithms and design robots.<\/p>\n<p lang=\"en-GB\">&#8211; <a href=\"http:\/\/wiki.ros.org\/rviz\" target=\"_blank\">Rviz<\/a>, tool to visualize the robots.<\/p>\n<p><span lang=\"en-GB\">For this project Gazebo has been selected <\/span><span lang=\"en-GB\">with its r<\/span><span lang=\"en-GB\">ecommended version for Indigo, <\/span><span lang=\"en-GB\">Gazebo 2.X. If you are not using Indigo, take a look to this <a href=\"http:\/\/gazebosim.org\/tutorials\/?tut=ros_wrapper_versions\" target=\"_blank\">web<\/a> to know which Gazebo version you need.<br \/>\n<\/span><\/p>\n<p><span lang=\"en-GB\">The model and its home position are shown in the following figures.<\/span><\/p>\n<p><a href=\"http:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_reposo.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-229 size-medium\" src=\"http:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_reposo-300x207.png\" alt=\"brazo_reposo\" width=\"300\" height=\"207\" srcset=\"https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_reposo-300x207.png 300w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_reposo-768x529.png 768w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_reposo-618x426.png 618w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_reposo-444x306.png 444w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_reposo.png 852w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a> <a href=\"http:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_home.png\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-230\" src=\"http:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_home-300x221.png\" alt=\"brazo_home\" width=\"300\" height=\"221\" srcset=\"https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_home-300x221.png 300w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_home-768x564.png 768w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_home-618x454.png 618w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_home-444x326.png 444w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2015\/12\/brazo_home.png 800w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>In this first post we have simulated Widow-X arm in ROS\/Indigo. There are several simulators available in ROS, for instance: &#8211; MoveIt!, which is a motion planning. &#8211; Stage, very useful to 2D navigation. &#8211; Gazebo, tool to test algorithms and design robots. &#8211; Rviz, tool to visualize the robots. For this project Gazebo has [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[6],"tags":[11,12],"class_list":["post-207","post","type-post","status-publish","format-standard","hentry","category-ros-simulator","tag-gazebo","tag-widow-x"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts\/207"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/comments?post=207"}],"version-history":[{"count":9,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts\/207\/revisions"}],"predecessor-version":[{"id":245,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts\/207\/revisions\/245"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/media?parent=207"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/categories?post=207"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/tags?post=207"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}