search

Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers
BSD 3-Clause "New" or "Revised" License
31 stars 31 forks source link

[Question]: Simulation in Gazebo #66

Closed sanjay-uzu closed 4 months ago

sanjay-uzu commented 4 months ago

Question

I used this command to start the simulation in gazebo: roslaunch interbotix_xslocobot_gazebo xslocobot_gazebo.launch robot_model:=locobot_wx250s show_lidar:=true use_trajectory_controllers:=true

I want to the run python code on this simulation since I don't have the real robot, for example I want to run the combocontrol.py in the examples on this gazebo simulation. I am not finding instructions on how to do that . please help me.

Also I want to simulate the camera as well , is that possible ? My aim is to perform object detection and have the robot perform a task (like pick the object ) all in gazebo only.

Robot Model

locobot_wx250

Operating System

Ubuntu 20.04

ROS Version

ROS 1 Noetic

Additional Info

No response

lukeschmitt-tr commented 4 months ago

Unfortunately, the Python-ROS API is not compatible with the Gazebo simulation at this time as stated in the documentation. To control a Gazebo-simulated robot, you would have to use MoveIt for the arm, or by sending direct commands to individual joints. The base can be controlled via the move_base navigation package.

The camera is simulated in Gazebo using the libgazebo_ros_openni_kinect plugin. You can find the relevant topics in the plugin configuration here.