ELIR Simulation

Simulate ELIR on gazebo!

Requirements

• Ubuntu 16.04 LTS (Xenial)
• ROS Kinetic Kame
• ROS Workspace
• Gazebo 7+

Installation

Go to the install folder

$ cd ~/catkin_ws/src/elir_simulation/install

Run the insall.sh file

$ ./install.sh

Remember to compile you do a catkin_make in your workspace.

Go to the catkin_ws:

$ cd ~/catkin_ws

Run:

$ catkin_make

Case ROS doesn't find the package, remember to source your setup.bash file

$ source ~/catkin_ws/devel/setup.bash

Installed Packages

You can check with rospack list comand to see if the packages were installed:

• Velocity_controllers

• position_controllers

• gazebo_ros

• gazebo_ros_control

• pluginlib

• librviz_tutorial

• Xacro

• ps3joy

• joint_state_controller

• joint_state_publisher

Avaiable Applications

RVIZ Visualization:

$ roslaunch elir_description elir_view.launch

Gazebo Simulation:

$ roslaunch elir_gazebo elir_world.launch

Joystick Application

Find your joystick-driver and clone the repository into the src folder

$ cd ~/catkin_ws/src

$ git clone [URL]

$ cd ~/catkin_ws

And install libusb-dev

$ sudo apt-get install libusb-dev

1. Remove spacenav_node and wiimote that are inside the joystick-driver folder, they presented bugs

2. Inside catkin_ws do a catkin_make

3. Launch the world

Contributions

• Cleber Couto - clebercoutof
• Daniel Pinha - DanielPínha

Credits

• Marco Reis - mhar-vell
• Pedro Xavier - pxalcantara