RoboND-myrobot
The myrobot lab part of RoboND Gazebo Basics lesson. The purpose of this lab is to learn how to build a two-wheeled robot model with the Model Editor tool in Gazebo. Include this model in an empty Gazebo World. And, finally write a plugin to interact with this world.
Directory Structure
.myrobot # myrobot lab main folder
├── images # Code output image
│ ├── output.png
├── model # Model files of the two-wheeled robot
│ ├── robot
│ │ ├── model.config
│ │ ├── model.sdf
├── script # Gazebo World plugin C++ script
│ ├── hello.cpp
├── world # Gazebo main World empty scene
│ ├── myworld
├── CMakeLists.txt # Link libraries
└──
Steps to launch the simulation
Step 1 Update and upgrade the Workspace image
$ sudo apt-get update
$ sudo apt-get upgrade -y
Step 2 Clone the lab folder in /home/workspace/
$ cd /home/workspace/
$ git clone https://github.com/udacity/RoboND-myrobot myrobot
Step 3 Compile the code
$ cd /home/workspace/myrobot/
$ mkdir build
$ cd build/
$ cmake ../
$ make
Step 4 Add the library path to the Gazebo plugin path
$ export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/workspace/myrobot/build
Step 5 Run the Gazebo World file
$ cd /home/workspace/myrobot/world/
$ gazebo myworld
Output
The hello world message and the two-wheeled robot inside a Gazebo World should both launch as follow: