WALLE@ROS

WALLE@ROS

An interesting recreation in player/stage is walle, which was designed by Richard. I have made a ROS package of the same. The package can be downloaded here, http://mobotica.googlecode.com/files/walle_ros.tar.gz . The simulation may be run with the following command;

rosrun stage stageros `rospack find walle_ros`/world/simple.world 

This stage window should pop-up,
 

The simulation script employs the stage wander controller, and the simulation starts off in the 'PAUSED' mode, left click on the stage window and press P to get things moving. Walle will wander around.

To have a closer look at walle, left click on the stage window and press R (Perspective camera). 
 

NOTE

1. Tested on ROS diamondback, should work on ROS electric
2. Any issues with the ROS package, please write to me at arkapravobhaumik at gmail dot com

TELEOPERATION IN GAZEBO

IROBOT CREATE MODEL IN GAZEBO

We have met the roomba robot in one of my previous articles. Here, I work on some simple teleoperation on it, this time with a 3 dimensional model in gazebo.

I am thankful to Jeff for providing a URDF for the irobot create at http://code.google.com/p/aptima-ros-pkg/ .

TELEOPERATION

I used this roomba model with simple_office.world, which is one of the environments provided by the installation files for gazebo. I was able to move the robot around using teleoperation from teleop_base. 
 

NOTE:

1. The simulations were done in ROS 1.4.10, Diamondback, installed on Ubuntu 10.04 LTS
2. The codes for the simulation are provided at https://github.com/Arkapravo/irobot_create_gazebo