Jackal simulation in ROS kinetic

INSTALL.md

Install dependencies :

source /opt/ros/kinetic/setup.bash

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 gui:=true

In terminal 2 :

roslaunch jackal_viz view_robot.launch

and follow the tutorial

Download and run an outdoor map with (more or less) arbitrary terrain with P3D plugin

Close the running process in terminal 1 and run:

cd ~/jackal_ws/src/jackal_simulator/jackal_gazebo/launch/; wget https://gist.githubusercontent.com/gmsanchez/1619f8080c2e4c78730ff425fd13aafa/raw/00e82e6fdd9b9cd5c23d9e96fcba266512690173/jackal_world_outdoor.launch -O jackal_world_outdoor.launch

cd ~/jackal_ws/src/jackal_simulator/jackal_gazebo/launch/; wget https://gist.githubusercontent.com/gmsanchez/d3c0876d5b35c89576cd6e84dc2ee5ac/raw/b85839986ccbf9707472d73b0b8c4b422d7223a6/jackal_empty_world.launch -O jackal_empty_world.launch

cd ~/jackal_ws/src/jackal/jackal_description/urdf; mv jackal.gazebo jackal.gazebo.orig; wget -c https://gist.githubusercontent.com/gmsanchez/3965552f87467d64c3383dda53f012a3/raw/2d666216d7b57ef57252ab197b5509fddde15aa0/jackal.gazebo -O jackal.gazebo

Now, in terminal 1:

roslaunch jackal_gazebo jackal_world_outdoor.launch front_laser:=true