dhruvribbonwala/cretus

A basic package to learn modelling and simulation for ROS

Introduction to Robotic Visualisation and Simulation

Overview

This repository contains a ROS package cretus that contains necessary files to visualise and model a robot in RViz. One can also tinker with ros_control as dictated in further steps.

Installation

1. Fire up the terminal in your rosject and type the following command to navigate to the required folder

cd catkin_ws/src

2. Then clone this repository by giving the following command

git clone https://github.com/DhruvRibbonwala/cretus.git

3. Then navigate back to the workspace directory by

cd ..

4. Then build the package by giving the following commands

catkin_make

5. Source the workspace to reflect these changes. Feel free to write this command every now and then

source ~/catkin_ws/devel/setup.bash

Launching

In order to launch RViz to visualize cretus type the following code in the terminal

roslaunch cretus bringup.launch

To visualize the example cretus2 that we have already created before hand, type

roslaunch cretus bringup2.launch

To simulate cretus in gazebo and move the robot, type

roslaunch cretus cretus_gazebo.launch

References

URDF tutorials