altzits007/talos_sim

This is the simulation of robot Talos for the international competition RoboCup@Work

A Demonstration of our robot Talos

0. Preview

First of all, clone it to your ros workspace source file then go to your root workspace and type the following commands.
git clone -b noetic-devel https://github.com/AltziTS007/talos_sim.git,
rosdep install --from-paths src --ignore-src -r -y,
catkin_make -DCMAKE_BUILD_TYPE=Release -DCMAKE_C_COMPILER=/usr/bin/gcc-8.

And don't forget to sauce.
source devel/setup.bash

1. Launch our world and Talos

To start the simulation go to your terminal and hit roslaunch talos_description spawn_robocup.launch and hit play to gazebo in the left corner.

2. Launch gmapping

Next, we hit gmapping for mapping roslaunch talos_navigation gmapping.launch.

Move the robot with rosrun teleop_twist_keyboard teleop_twist_keyboard.py.

3. Save the map

Now we save the map by hitting rosrun map_server map_saver.

4. Conclusion

The simulation is in an early stage a lot of things need to be optimized from navigation, manipulation, state-machine, and of course vision.

⚠️ Every bug you encounter, address it to the Issues section above. ⚠️

Thank you!

Sources from GitHub:

• https://github.com/iralabdisco/ira_laser_tools
• https://github.com/ros-perception/slam_gmapping
• https://github.com/ros-planning/navigation
• https://github.com/pal-robotics/realsense_gazebo_plugin
• https://github.com/issaiass/realsense2_description
• https://github.com/FlexBE/flexbe_app
• https://github.com/robocup-at-work/atwork-commander

talos_sim's Issues

Packages not in src

We can't catkin_make if the packages are not inside a src folder

realsense2_description package not included

You should have the realsense2_description package already in the packages or mention that it needs to be installed

Modifications on arm and talos urdf/xacro files

For arm.urdf.xacro file:

• Changes and modifications in xml code.
• Removement of topics_nc parameter.

For talos.urdf.xacro file:

• Removement of topics_nc parameter.

Removing topics_nc parameter which is not supported in the files of realsense camera dependency.
Urdf_xacro_files.zip