agn-7/agn-gazebo

Several Gazebo models in order to person detection using 3D LiDAR, Pioneer P3DX and maze map for rescue robot exploration which is compatible with ROS.

Compatible Versions:

• ROS: Kinetic
• OS: Ubuntu-16.04
• Gazebo 7.0

Dependencies:

• Velodyne Simulator
• sudo apt-get install ros-kinetic-husky-gazebo
• Hector NIST Arenas Elements

---

Install:

Clone this project on your ROS workspace, then run the command below:

~/catkin_ws$ catkin_make

---

Person LiDAR Gazebo model

A Gazebo model in order to person detection purpose in an outdoor location using 3D LiDAR Velodyne which is compatible to ROS.

Usage:

Launch its launch files:

• Fixed persons:

  roslaunch agn_gazebo static_velodyne.launch
  

• Animated persons:

  roslaunch agn_gazebo animated_person.launch
  roslaunch agn_gazebo movement.launch
  

• To store the persons position in .csv files run the command below:

  roslaunch agn_gazebo groundtruth.launch
  

Gazebo:

Rviz:

Pioneer P3DX Gazebo model

A Gazebo model in order to wall-following and go-to algorithms purpose like the Bug navigation algorithm

Usage:

Launch its launch file:

roslaunch agn_gazebo pioneer.launch

---

Rescue robot exploration Gazebo model

A Gazebo model in order to prepare an environment for a rescue robot on Exploration task in a ramped maze map.

Usage:

Launch its launch file:

roslaunch agn_gazebo rescue.launch

---

agn-gazebo's Issues

roslaunch agn_gazebo static_velodyne.launch

~/ros_source/catkin_ws$ roslaunch agn_gazebo static_velodyne.launch
[static_velodyne.launch] is neither a launch file in package [agn_gazebo] nor is [agn_gazebo] a launch file name
The traceback for the exception was written to the log file

roslaunch agn_gazebo static_velodyne.launch

[ERROR] [1559546398.334556582, 49.234000000]: Updating ModelState: model [model8.sdf] does not exist
[ERROR] [1559546398.335705265, 49.234000000]: Updating ModelState: model [model7.sdf] does not exist

Gazebo has been installed,but this error occur

phe@phe:~/ros_source/catkin_ws$ catkin_make
Base path: /home/phe/ros_source/catkin_ws
Source space: /home/phe/ros_source/catkin_ws/src
Build space: /home/phe/ros_source/catkin_ws/build
Devel space: /home/phe/ros_source/catkin_ws/devel
Install space: /home/phe/ros_source/catkin_ws/install

Running command: "make cmake_check_build_system" in "/home/phe/ros_source/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/phe/ros_source/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/phe/ros_source/catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 8 packages in topological order:
-- ~~ - rslidar (metapackage)
-- ~~ - rslidar_msgs
-- ~~ - my_package
-- ~~ - agn_gazebo
-- ~~ - rslidar_driver
-- ~~ - rslidar_pointcloud
-- ~~ - rslidar_rangeimage
-- ~~ - mbot_gazebo
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'rslidar'
-- ==> add_subdirectory(ros_rslidar_robosense/rslidar)
-- +++ processing catkin package: 'rslidar_msgs'
-- ==> add_subdirectory(ros_rslidar_robosense/rslidar_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- rslidar_msgs: 2 messages, 0 services
-- +++ processing catkin package: 'my_package'
-- ==> add_subdirectory(my_package)
-- +++ processing catkin package: 'agn_gazebo'
-- ==> add_subdirectory(agn_gazebo)
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by "gazebo" with any
of the following names:

**gazeboConfig.cmake
gazebo-config.cmake**

Add the installation prefix of "gazebo" to CMAKE_PREFIX_PATH or set
"gazebo_DIR" to a directory containing one of the above files. If "gazebo"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
agn_gazebo/CMakeLists.txt:10 (find_package)

-- Could not find the required component 'gazebo'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
...........................
Invoking "make cmake_check_build_system" failed

phe@phe:~/ros_source/catkin_ws$ gazebo -version
Gazebo multi-robot simulator, version 7.0.0

Gazebo has been installed,but this error occur。