reemc_door

This repository contains the simulation files for the E10 - Open the door episode for the 1st SciRoc Challenge. For more information please refer to this website.

Installation

Prerequisites:

• Ubuntu 16.04 (Xenial Xerus).
• ROS kinetic kame.
• Gazebo 7.x updated to the last version.
• Git
• REEM-C Simulator

Installation:

• Open a terminal and go to the src folder in the reem-c workspace:

cd ~/reemc_public_ws/src

• Clone the challenge environments.

git clone https://github.com/JoseJaramillo/reemc_door

• Build the workspace.

cd ..
catkin build -DCATKIN_ENABLE_TESTING=0

If the installation was successful, the terminal will show that All packages succeeded!.

Usage

• Source the workspace.

source ~/reemc_public_ws/devel/setup.bash

• Launch the environments.

roslaunch reemc_door reemc_door.launch door:=simple

This will launch a Gazebo world with the REEM-C robot and a simple door. To launch the environments in different scenarios:

roslaunch reemc_door reemc_door.launch door:=simple
roslaunch reemc_door reemc_door.launch door:=self_closing
roslaunch reemc_door reemc_door.launch door:=hard_obstacle
roslaunch reemc_door reemc_door.launch door:=soft_obstacle
roslaunch reemc_door reemc_door.launch door:=wind

Where:

• simple: standard door, it won't close if the robot does not push it.
• self_closing: the door will act as if has self-closing hinges.
• hard_obstacle: A small obstacle will appear behind the door, the robot should push the door harder to overcome this obstacle.
• soft_obstacle: a big box will appear behind the door, this obstacle can be moved and the robot should push harder to move it away.
• wind: A wind draft which pushes the door against the robot is simulated.