Gazebo_move_base

Panthera Gazebo Simulation

ROS packages for simulating Panthera robot using Gazebo Simulator. We provides several environment worlds to test the robot.

Dependencies

Make sure you have ROS melodic installed, although other ros-distros might also work. This simualtion package also relies on the following external packages, so make sure you have installed everything from source before building this package.

Build from source

cd <ros1_ws>/src
git clone https://github.com/roarLab/panthera_simulations
cd ..
rosdep install -y --from-paths src --ignore-src --rosdistro <YOUR_ROS_DISTRO>
catkin_make

Simulate panthera in small room-like environment

cd <ros1_ws>
source devel/setup.bash
roslaunch panthera_gazebo panthera_small_room_V3.launch

Run the odom

cd <ros1_ws>
source devel/setup.bash
rosrun panthera_move_base odom_pub_tf.py

Run the odom

cd <ros1_ws>
source devel/setup.bash
rosrun panthera_move_base panthera_inverse_kinematics.py

Run the Move Base , AMCL and Map loader

cd <ros1_ws>
source devel/setup.bash
roslaunch panthera_move_base panthera_navigation.launch