Creating a map in Rviz using Gazebo model

Hi everyone! You guys have been a huge resource to me and my team.

I am part of a group that is using ROS to make an Autonomous Valet System. I am doing the simulation for it and I'm having problems with Rviz.

I have completed the robot model and added a hokuyo laser scanner to it. I am now trying to create a map of the environment in Rviz but I can't seem to find anything for that. I have a .config and a .sdf file for my robot and the same for the robot's surroundings. I looked up ways to do this and I saw numerous turtlebot examples but I haven't been able to translate that to my model. I'm also using Melodic.

Any help would be infinitely appreciated.

Asked by TrickyDoe on 2018-10-30 12:31:56 UTC

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Answers

You need connect your robot to ROS. These are several steps to be done.

you need a joint state plugin that publishes the joint states of your robot
you need a plugin that converts the joint_states to tf
you need a base controller that takes the cmd_vel commands and translates them to robot movement in gazebo

I recommend you to search for these plugins. There must be plenty of them with relative generic functionality. You can find more infos here:

https://answers.ros.org/question/248523/how-to-control-robot-in-simulation-gazebo-710/

http://gazebosim.org/tutorials/?tut=ros_control

http://gazebosim.org/tutorials?tut=guided_i5

Asked by wentz on 2018-11-02 08:22:24 UTC