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How to make an interactive simulation where the user controls a robot with the keyboard and sees a camera on a window?

asked 2016-10-23 17:05:47 -0500

cirosantilli gravatar image

updated 2017-02-09 15:37:37 -0500

Or in other words, how to make a game with Gazebo?

Which components should I look into?

The following examples seemed interesting:

Someone has already made an OpenAI Gym link at: https://github.com/erlerobot/gym-gazebo but I don't know if it interactive.

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gazebo the video game! It's finally happening!

Peter Mitrano gravatar imagePeter Mitrano ( 2016-10-25 20:04:06 -0500 )edit

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answered 2016-10-25 10:22:54 -0500

One possible way:

  1. Create a world that has a robot with a camera

  2. On that world, use the KeyboardGUIPlugin to capture keystrokes and publish over a topic:

    <world name="default">
        <gui>
          <plugin name="keyboard" filename="libKeyboardGUIPlugin.so"/>
        </gui>
        ...
     </world>
    
  3. On your robot, use a plugin to convert the keystrokes to joint commands, like this plugin (note: that plugin is not shipped with Gazebo).

  4. Once you open Gazebo, go to Window -> Topic visualization and choose the gazebo.msgs.ImageStamped topic for your robot's camera, this will open the camera feed on another window

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Asked: 2016-10-23 17:05:47 -0500

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Last updated: Feb 09