phir2-lab / hratc2017_entry_template

This project contains the templates for the HRATC Challenge 2017

The hratc2017_entry_template package will help the HRATC 2017 competitors jump start their entry! To know more about HRATC 2017 visit http://inf.ufrgs.br/hratc2017/HRATC2017/Welcome.html

Installation

To learn how to install the complete HRATC 2017 framework visit http://inf.ufrgs.br/hratc2017/HRATC2017/Simulator.html

Examples in the repository

The examples present on the hratc2017_entry_template package are available under the examples folder. These are divided into two sub-folders, cpp and py.

The cpp examples are:

• get_data - In this example we show how to read odometry, gps, metal detection information, among other stuff.
• random_walk_simple_node - In this example a random walk algorithm is implemented. The goal is to demonstrate how to subscribe to the odometry and laser data and publish velocity commands to the robot.
• set_mine_node - In this example we show how to tell the HRATC 2017 Judge that we found a mine.

The py example is:

• simple_control - This example is designed to guide you through the system capabilities. Thus it was made as plain as possible. This is not meant to be a complete and exhaustive tutorial. We just illustrate some of the basic features of the system using a sample code in python. There are snippets of code for most of the system capabilities in this package.

How to run a node?

With the simulator running:

$ rosrun hratc2017_entry_template name_of_the_node

Example:

$ rosrun hratc2017_entry_template simple_control

Contributions

• cpp examples by Gonçalo Cabrita and Renan Maffei;
• python examples by Guilherme Franco and Renan Maffei;

hratc2017_entry_template's Issues

control_nocamera.py file is not controlling robot

when I run file nocontrol_camera.py with simulator is running I see robot moving in straight line only. Cursor key control on robot is not observed.

simulator launched successfully but it fails to launch the plugin
libgazebo_ros_controller_manager.so

Visualization in Rviz different from Gazebo

hi there,
I am trying to simulate autonomous navigation of a Husky a200 and I am using the example template (.cpp) as a tutorial to learn to control the robot. I was able to simulate random walk in gazebo but in rviz all i see is that the robot is static and the wheels are spinning in their own place while the robot is moving in Gazebo. Why is this the case ?
I want to be able to see the navigation in rviz so that I can also show the laser scans and be sure that the obstacles are indeed being avoided and not being missed simply because of random walk.

Please advise.