threeal / dienen_gazebo_sim

Gazebo simulation environment for the Dienen assistive robot

Alfi Maulana

A C++ enthusiast who is experienced with building and optimizing native apps on Linux, macOS, and Windows. Also, a fast learner and generalist who can develop multiple things like computer vision programs using OpenCV, shell scripts for CI workflows, web apps using TypeScript, and microservices using Go.

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dienen_gazebo_sim's Issues

Enhance User Model

Enhance the user model (dienen human) to reassemble a real human.

Add Better Robot Design

Add a better design for the Dienen robot.

Add Human Model

Add a human model that will be used to interact with the robot model.

Add Node That Control the Robot Movement

Add a ROS 2 Node as a Gazebo Plugin in the robot which will modify the robot wheel position using an x, y, and z, movement direction command.

Add Depth Camera Sensor

Add a depth camera sensor in the Dienen assistive robot with a plugin that publish a depth image data.

Add Laboratory World

Create a new indoor world that reassemble an AJ403 laboratory room.

Add Camera and Node That Publish Captured Image

Add a virtual camera child in the robot that include ROS 2 Node as a Gazebo plugin. That node will be used to publish the captured image from the virtual camera.

Use Tosshin Sim's Navigation Plugin

As in the threeal/dienen_gazebo_plugins#8, replace the currently used movement plugin with the newer navigation plugin.

Use Docker to Run Tests

As in the last finished GitHub Actions, that action takes about a half-hour to complete, mostly used to build ROS 2 and the project dependencies. That's why it's better to move the test using docker as in this guide so the action will only need to build and test this project with its preinstalled ROS 2.

Rename Into Dienen Gazebo Sim

Rename this project from dienen_sim into dienen_gazebo_sim to make this project more specified on using Gazebo instead of other simulator.

Add Gazebo Launch and Simple World

Follow the boldbot_sim package here in creating a ROS 2 Launch that will bring up a Gazebo Simulation and preset world for this project.

Modify Robot Scale

Increase the robot scale from 1/1 to be 2/1 to make the robot looks as big as the human counterpart.

Add a Simple Obstacle

Add a simple obstacle object. It could be anything ranging from simple block or table or etc.

Use Low Poly Mesh for Collision

Use low poly meshes that mach each robot meshes to be used for the collision.

Add Optional World

Add an optional world to be used, that include different model and environment.

Add Robot Model and Spawn During Launch

Add a simple robot model and spawn it during the bringup_launch.py command.

Add Arms to the Robot Model

Add full arms that contain joints from the shoulder joint to the gripper joint.

Move Movement Plugin as Separate Package

As in threeal/tosshin#5, Move the Movement Plugin into a separate package under Tosshin Sim package.