Getting started

Getting started

Real life

To interface with ROS educational center, launch IRL.launch file.

roslaunch rosinljubljana IRL.launch

Connection with webcam is handled with ROS package usb_cam. Note that device port depends on the device and can be corrected by editing usb_cam.launch .

To change number of robots present modify IRL.launch, by adding or removing following block,

<group ns="robot_4">
    <include file="$(find rosinljubljana)/launch/spawn_robot.launch">
        <arg name="number" value="4"/>
    </include>
</group>

and by accordingly modifying rosparam robot_list.

<rosparam param="robot_list">[4, 1]</rosparam>

Simulation

Gazebo

roslaunch rosinljubljana simulator.launch

To change number or starting position of robots modify gazebo_simulator.launch, by adding or removing following block,

<group ns="robot_4">
  <include file="$(find rosinljubljana)/launch/spawn_robot_gazebo.launch">
      <arg name="number" value="4"/>
      <arg name="x" value="0.5"/>
      <arg name="y" value="-0.0"/>
      <arg name="yaw" value="0.0"/>
  </include>
  </group>

and by accordingly modifying rosparam robot_list.

<rosparam param="robot_list">[4, 1]</rosparam>

Webots

To run simulation in webots:

roslaunch rosinljubljana simulator_webots.launch

To modify number of robots modify webots_simulator.launch, by adding or removing following block,

<group ns="robot_4">
    <include file="$(find rosinljubljana)/launch/spawn_robot.launch">
        <arg name="number" value="4"/>
    </include>
</group>

by accordingly modifying rosparam robot_list,

<rosparam param="robot_list">[4, 1]</rosparam>

and by modifying webots file::worlds/webots_world/worlds/world.wbt file. One must correctly set ar tag and name of robot in world.wbt. As of now webots simulation is experiencing stability issues.