rbkairos_sim

Packages for the simulation of the RB-Kairos.

Packages

rbkairos_gazebo

This package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.

rbkairos_sim_bringup

Launch files that launch the complete simulation of the robot/s.

Installation

1) Install the following dependencies:

This simulation has been tested using Gazebo 9.19 version. To facilitate the installation you can use the vcstool:

sudo apt-get install -y python3-vcstool

2) Create a workspace and clone the repository:

mkdir catkin_ws

cd catkin_ws

vcs import --input \
 https://raw.githubusercontent.com/RobotnikAutomation/rbkairos_sim/melodic-devel/repos/rbkairos_sim.repos

rosdep install --from-paths src --ignore-src -y -r

3) Compile:

catkin build
source devel/setup.bash

Bringup

roslaunch rbkairos_sim_bringup rbkairos_complete.launch

This launch files runs Gazebo and the ROS controllers to work with the RB-KAIROS robot. This launch accepts multiple parameters to work with.

By default it runs a full world with all the standard packages for navigation, localization and manipulation.

If you want to launch Moveit you have to run:

roslaunch rbkairos_sim_bringup rbkairos_complete.launch moveit_movegroup_a:=true

The default configuration will load a RB-Kairos + UR5 + EGH gripper. Other configurations are also available.

Docker Usage

In order to run this simulation you will need nvidia graphical accelation

Installation of required files

• docker
• nvidia-docker
• nvidia-drivers

Usage

git clone https://github.com/RobotnikAutomation/rbkairos_sim.git
cd rbkairos_sim
git checkout melodic-devel
export ROS_BU_PKG="rbkairos_sim_bringup"
export ROS_BU_LAUNCH="rbkairos_complete.launch"
cd docker
docker compose up