ANI717 Simulation Workspace

Colaborators

Animesh Bala Ani

Table of Contents

• Install Dependency
  
• Build, Source & Launch Package (Keyboard)
  
• Build, Source & Launch Package (Self Driving))
  
• Launch Arguments
  
• Zip Images for Download
  

Install Dependency

Install OpenCV, ONNXRuntime-GPU and Getch.

python3 -m pip install opencv-python onnxruntime-gpu getch

Install ROS2 dependency.

rosdep update
rosdep install --from-paths src --ignore-src -r -y

Build, Source & Launch Package (Keyboard)

Terminal 1

cd ANI717_Robotics/simulation_ws/
export DISPLAY=:0
colcon build --symlink-install && source install/local_setup.bash && ros2 launch simulation_app keyboard_launch.py

Terminal 2 (Run following commands and select /image as Image View

export DISPLAY=:0
rqt

Terminal 3

cd ANI717_Robotics/simulation_ws/
source install/local_setup.bash && ros2 run ros2_keyboard_to_twist_message execute

Build, Source & Launch Package (Self Driving)

cd ANI717_Robotics/simulation_ws/
export DISPLAY=:0
colcon build --symlink-install && source install/local_setup.bash && ros2 launch simulation_app autonomous_launch.py

Launch Arguments

Select True or False as arguments for use_simulator to decide whether to launch gazebo server.
Default use_simulator:True

Select True or False as arguments for headless to decide whether not to launch gazebo client.
Default headless:False

Select complete path of world file as arguments for world to simulate that world.
Default world:os.path.join(ros2_world_simulation_dir, 'worlds', 'racetrack_day.world')

Select name of robot urdf file as arguments for urdf_file to simulate that robot.
Default urdf_file:jetbot.xml

Select Deep Learning Model type as arguments for model_type.
Default model_type:onnx

Select required values of following arguments for robot's initial position.
Default x_pos:2.75
Default y_pos:-14.0
Default z_pos:0.5
Default roll:0.0
Default pitch:0.0
Default yaw:0.0

Zip Images for Download

cd ../
zip -r images.zip images