ROS packages for JPL Open Source Rover Gazebo Simulation

Introduction

This package suite is designed to bring the JPL Open Source Rover to life in a simulated environment using Gazebo. Inspired by NASA JPL's Open Source Rover project, these packages allow for visualization and control in a Gazebo simulation.

Overview

The following ROS packages are included to visualize the rover in rviz and simulate its operations in Gazebo:

• rover.launch: Launches a package for observing the rover in rviz, providing real-time visualization of its movements and sensor data.
• rover_gazebo.launch: Deploys the rover within the Gazebo simulation environment, creating a virtual testing ground for rover operations.
• controller.launch: Initializes the control system for the rover, setting the stage for user interaction through various input devices.
• rover_teleop_keyboard.launch: A package that allows the user to maneuver the rover using keyboard inputs, ensuring precise and responsive control.
• rover_teleop_xbox.launch: Enables control of the rover via an Xbox controller, offering an intuitive and ergonomic option for navigation and operation.

Dependencies

Linux

• Operating System: Ubuntu 20.04.06 LTS
• ROS Distribution: Noetic
• Gazebo Version: 11.14.0

Required ROS Packages

To fully utilize the capabilities of the rover simulation, the following ROS packages are necessary:

• rviz
• urdf
• xacro
• gazebo_ros
• robot_state_publisher
• joint_state_publisher
• diagnostic_updater
• ros_control

example:

sudo apt-get install ros-noetic-ros-controllers
sudo apt-get install ros-noetic-diagnostic-updater
sudo apt-get install ros-noetic-robot-state-publisher
sudo apt-get install ros-noetic-joint-state-publisher
sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control

Installation

Create and configure a workspace

Source your ROS installation:

source /opt/ros/noetic/setup.bash

Create a catkin workspace:

mkdir -p ~/rover_ws/src
cd ~/rover_ws/src
catkin_init_workspace
cd ..
catkin_make

Clone and build the packages:

cd ~/rover_ws/src
git clone https://github.com/dongjineee/rover_gazebo.git
cd ..
catkin_make
source devel/setup.bash

Visualisation

rover_rviz

This package includes launch and rviz configuration files for visualising the rover.

To view the rover in rviz and manually control the joints, execute the following command:

roslaunch rover rover.launch

Simulation

rover_simulation

This package provides essential launch needed for the visualization of the rover within a simulation environment.

To launch the simulation along with the capability to manually control the joints, use the command:

roslaunch rover empty_world.launch

rover_control

To launch the simulation along with the capability to manually control the joints, use the command:

roslaunch rover controller.launch

Keyboard controller

roslaunch rover rover_teleop_keyboard.launch

To execute this package, first clone the repository using the following command:

git clone https://github.com/methylDragon/teleop_twist_keyboard_cpp.git

xbox controller

roslaunch rover rover_teleop_xbox.launch

moon_world

places the rover in a Moon terrain model sourced from https://github.com/MobileRobots/amr-ros-config/tree/master/gazebo

export GAZEBO_MODEL_PATH=:${your_workspace_dir}/src/rover_gazebo/worlds
roslaunch rover rover_moon.launch

Note

• When you run the Gazebo and control launch files, you may encounter a message stating No p gain specified for pid. This message can safely be ignored. The reason is that the *_wheel_joint_* entities are intended to function as servos.
• The control does not have specified linear and angular velocities. Therefore, it's necessary to add the maximum and minimum values for cmd_vel in the motor_controller.cpp.
• There are two types of odometry topics available: gt_odometry, which is based on ground truth data, and another that derives from the position of the wheel_joint.

Issue

• The joint type for rocker_bogie 1&2 has been set to 'revolute' to provide degrees of freedom. However, doing so results in the actual tf relationship not being connected between the box and rocker_bogie2. It's necessary to give freedom to the bogie while not affecting the tf relationship.