Jackal simulation in ROS kinetic

Install_Jackal.md

Install dependencies :

This is manual way to install necessary packages :

sudo apt-get install ros-kinetic-robot-localization ros-kinetic-controller-manager ros-kinetic-joint-state-controller ros-kinetic-diff-drive-controller ros-kinetic-gazebo-ros ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-plugins             ros-kinetic-lms1xx ros-kinetic-pointgrey-camera-description ros-kinetic-roslint ros-kinetic-amcl ros-kinetic-gmapping      ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-message-runtime ros-kinetic-topic-tools ros-kinetic-teleop-twist-joy

If you want to use rosdep and install all dependencies (for example for doc generation etc), the skip this step.

Create a workspace and clone sources

mkdir -p ~/jackal_ws/src; cd jackal_ws/src; catkin_init_workspace
git clone https://github.com/jackal/jackal.git
git clone https://github.com/jackal/jackal_simulator.git
git clone https://github.com/jackal/jackal_desktop.git
git clone https://github.com/ros-visualization/interactive_marker_twist_server.git

Install dependencies with rosdep :

cd ~/jackal_ws; rosdep install --from-paths . --ignore-src --rosdistro=kinetic

Build and source

cd ~/jackal_ws; catkin_make; source devel/setup.bash

Start simulation :

In terminal 1 :

roslaunch jackal_gazebo jackal_world.launch config:=front_laser

It may be nessesary to run the following command before if gazebo keeps crashing (and if this still fails, try disabling Accelerate 3D grapics in VMWARE

export SVGA_VGPU10=0

In terminal 2 :

source devel/setup.bash 
roslaunch jackal_viz view_robot.launch

and follow the tutorial