Duckietown Environment and Duckiebot in gazebo

With this folder, you can run duckietown environment and control robot with gazebo.

Install Depencencies

Requirements:

• Python 2
• ROS Kinetic
• Gazebo 7 (not Gazebo 8!)

NOTE: To build successfully, maybe you need to install a lot ros packages. Based on the error message, use sudo apt-get install ros-kinetic-packagename.

TODO: complete the list of depencencies to install.

sudo apt-get install \
ros-kinetic-xacro

# Python packages
pip install \
catkin_pkg \
catkin-tools \
defusedxml \
pyzmq \
rospkg \
pygazebo==3.0.0-2014.1

Build and run duckietown environment with a duckiebot

source /opt/ros/kinetic/setup.bash
cd simulator
catkin build
source devel/setup.bash
cd src/duckietown_gazebo
source env_gazebo.sh
cd ..
./run_gazebo.sh

You will see a Duckiebot in Duckietown now.

In gazebo, shortcut "Ctrl+T" can call out "Gazebo: Topic Selector" window. Then click topic /gazebo/default/mybot/chassis/camera1/imageunder gazebo.msgs.ImageStamped, a camera window of dockiebot will show up.

You can also control robot through publish messege to topic with command rostopic pub /cmd_vel geometry_msgs/Twist "linear: x: 0.2 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.1" or ./run_cmd