Get Started Guide

  • 2021.3
  • 10/21/2021
  • Public Content

Launch Wandering Application with Gazebo* Simulation

This tutorial provides an industrial simulation room model (the OSRF GEAR workcell that was used for the 2018 ARIAC competition), with objects and a wafflebot3 robot for simulation in Gazebo*. The industrial room includes: shelves, conveyor belts, pallets, boxes, robots, stairs, ground lane markers, and a tiled boundary wall.
Simulating the robot wandering app in the ARIAC world needs the container amr-ubuntu2004-full-flavour-sdk up and running.

Run the Sample Application

  1. Go to the
    AMR_containers
    folder:
    cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_<version>/AMR_containers
  2. Run the command below to start the Docker container:
    ./run_interactive_docker.sh amr-ubuntu2004-full-flavour-sdk:<TAG> eiforamr
  3. Within the Docker container, run the commands:
    source /opt/ros/foxy/setup.bash source /home/eiforamr/ros2_ws/install/setup.bash source Wandering/src/prebuilt_wandering/setup.bash export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$ROS2_WS/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/
  4. Run Gazebo* and the Wandering application:
    TURTLEBOT3_MODEL=waffle_ariac ros2 launch wandering_app waffle_ariac_wandering.launch.py
    Expected output:

Troubleshooting

  • If the following error is encountered:
    $ ./run_interactive_docker.sh amr-ubuntu2004-full-flasvour-sdk:<TAG> eiforamr bash: ./run_interactive_docker.sh Permission denied
    Give executable permission to the script:
    $ chmod 755 run_interactive_docker.sh
  • If the robot is not moving but Gazebo* started, start the Wandering application manually by open a container shell and entering:
    ros2 run wandering_app wandering

Summary and Next Steps

In this tutorial, you learned how to do launch the Wandering application for simulation in Gazebo*.
As a next step, see the Launch Cartographer with 2D LIDAR tutorial.

Product and Performance Information

1

Performance varies by use, configuration and other factors. Learn more at www.Intel.com/PerformanceIndex.