cob_simulation: cob_bringup_sim | cob_gazebo | cob_ogre

Package Summary

This package provides launch files for starting a simulated Care-O-bot.

• Author: Florian Weisshardt
• License: LGPL
• Repository: care-o-bot
• Source: git git://github.com/ipa320/cob_simulation.git

Software Requirements

Make sure that you have the cob_simulation stack installed on your system.

Usage/Examples

Building all packages needed for cob_bringup_sim

rosdep install cob_bringup_sim
rosmake cob_bringup_sim

Starting a simulated Care-O-bot in gazebo using an environment provided by IPA

The launch files for starting the simulation depend on two environment variables ROBOT and ROBOT_ENV, you can find a detailed explanation of their usage on the main Care-O-bot site.

export ROBOT=cob3-3
export ROBOT_ENV=ipa-kitchen
roslaunch cob_bringup_sim robot.launch

Population the world with objects

After you started the gazebo simulation environment you can add objects defined in cob_gazebo_objects to the simulation. To add objects you can use

roslaunch cob_gazebo_objects upload_param.launch
rosrun cob_bringup_sim spawn_object.py OBJECT_NAME1 OBJECT_NAME2 OBJECT_NAME3 ...

There are pre-defined positions for the objects depending on the environment they get spawned. For more information about specifying positions, see cob_gazebo_objects.