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HURBA: ROS and Gazebo tutorial I.

Dependencies:

  • ROS Melodic
  • Gazebo 9
  • RViz
  • Teleop twist keyboard

Project build instrctions:

  1. Clone this repo inside the src folder of a catkin workspace: git clone https://github.com/hungarianrobot/Project-1-Gazebo-Basics
  2. Build workspace: catkin_make
  3. Source environment: source devel/setup.bash
  4. Start the Gazebo simulation and RViz: roslaunch hurba_robot world.launch
  5. Start the Teleop package: rosrun teleop_twist_keyboard teleop_twist_keyboard.py

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Project structure:

tree
Project-1-Gazebo-Basics
├── README.md
├── documentation
│   ├── frames.png
│   ├── gazebo.png
│   ├── rosgraph.png
│   └── rviz.png
└── hurba_robot
    ├── CMakeLists.txt
    ├── launch
    │   ├── robot_description.launch
    │   ├── teleop.launch
    │   └── world.launch
    ├── meshes
    │   ├── chassis.SLDPRT
    │   ├── chassis.STEP
    │   ├── chassis.dae
    │   ├── hokuyo.dae
    │   ├── wheel.SLDPRT
    │   ├── wheel.STEP
    │   └── wheel.dae
    ├── package.xml
    ├── rviz
    │   └── basic_view.rviz
    ├── urdf
    │   ├── hurba_robot.gazebo
    │   └── hurba_robot.xacro
    └── worlds
        ├── basic_world.world
        └── empty.world