jackal_simulation_rob

Simulation for the Jackal robots at the University of Luebeck

1. Install ROS kinetic or melodic

For kinetic follow: http://wiki.ros.org/kinetic/Installation/Ubuntu For meldoic follow: http://wiki.ros.org/melodic/Installation/Ubuntu

2. Install additional Jackal packages

sudo apt-get install ros-kinetic-jackal-simulator ros-kinetic-jackal-desktop ros-kinetic-jackal-navigation

or

sudo apt-get install ros-melodic-jackal-simulator ros-melodic-jackal-desktop ros-melodic-jackal-navigation

3. Create catkin workspace

In your home folder open a terminal and create your workspace:

mkdir catkin_ws
cd catkin_ws
mkdir src
cd src

4. Clone repos

Clone following repos into your src folder

git clone https://github.com/l-schilling/jackal_simulation_rob.git
git clone https://github.com/wilselby/ouster_example

5. Build your workspace

cd ..
catkin_make

If needed source your workspace (in your catkin_ws: source devel/setup.bash)

6. Running simulation

roslaunch jackal_base jackal.launch

7. Using the camera

ZED Camera currently not supported in Gazebo. For a quick fix you can change the argument config in the file jackal_base/launch/jackal.launch to "front_bumblebee2" The Bumblebee2 camera is a stereo camera similiar to the ZED camera. To get a 3D point cloud, open another terminal and type the follwing command:

ROS_NAMESPACE=front rosrun stereo_image_proc stereo_image_proc