How-to : CycabTK Simulator¶
Amaury Nègre - e-Motion - CNRS / Inria
Objectives: First step with CycabTK.
CycabTK¶
CycabTK is a robotic toolkit developed at Inria Grenoble. It mainly offers a 3D simulator integrating physics engine for mobile robots. It has been designed to be interfaced with ROS. Prior version of the toolkit also offers a blackboard-based middleware, named Hugr, automatic mobile robot drivers and sensor drivers (sensors as Sick laser, GPS, motion tracker, mono or stereo camera).
Installation¶
CycabTK Simulator is a ROS package that provide a set of mg-Engine plugins to simulate robots and sensors.
Install from the proteus repository on Ubuntu 12.04 i386 :¶
If you use Ubuntu 12.04 i386, you just have to install the CycabTKSimulator package from the proteus repository (https://packages.greyc.fr/proteus) :
$ apt-get install CycabTKSimulator
Install from sources :¶
To install the simulator from the sources, read instructions on the CycabTK main site
Test installation :¶
To verify the installation, you can launch the tutorial launchfile :
$ roslaunch CycabTKSimulator cycabtk_tutorial.launch
After that, you should see a window like this:
You can move the robot by pressing the keyboard arrows.
You can check you have sensors / commands topics in ROS :
$ rostopic list /clock /robot/camera/camera_info /robot/camera/image_raw /robot/camera/image_raw/compressed /robot/camera/image_raw/compressed/parameter_descriptions /robot/camera/image_raw/compressed/parameter_updates /robot/camera/image_raw/compressedDepth /robot/camera/image_raw/compressedDepth/parameter_descriptions /robot/camera/image_raw/compressedDepth/parameter_updates /robot/camera/image_raw/theora /robot/camera/image_raw/theora/parameter_descriptions /robot/camera/image_raw/theora/parameter_updates /robot/ground_vehicle_odometry /robot/hokuyo/scan /robot/ir1/range /robot/ir2/range /robot/twistCommand /rosout /rosout_agg /tf
Create a new simulation¶
Instructions to create a new simulation are available on the CycabTK web site : http://cycabtk.gforge.inria.fr/wiki/doku.php?id=tuto:tutorial