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LIAR-team / wombat

Robotics Autonomy Software Stack
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No-GUI "simulation" environment #12

Open alsora opened 2 years ago

alsora commented 2 years ago

For quick testing it may be helpful to have a lightweight simulation environment that can be run without any GUI. This could load a pre-existing map and simulate basic odometry and range sensors.

Similar to ROS stage, but with the possibility of being headless (maybe stage can be run headless, and we can just use that).

Stage: https://github.com/rtv/Stage it can be installed on ubuntu 20.04 with:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-noetic-stage

ROS 1 wrapper: https://github.com/ros-simulation/stage_ros ROS 2 wrapper (no-one uses it, it may be completely broken): https://github.com/ymd-stella/stage_ros2

ROS 1 stage navigation examples: https://github.com/ros-planning/navigation_tutorials

alsora commented 2 years ago

Initial implementation in https://github.com/LIAR-team/wombat/tree/asoragna/kennel/kennel

ilarioazzollini commented 2 years ago

https://index.ros.org/p/nav2_map_server/