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Part 1

Fetch in Gazebo

This part assumes that you have gone through the ROS tutorial and have a basic knowledge of ros concepts like ros workspace, nodes, launch files etc.

We adapted a portion of the fetch documentation into the following steps. You are encouraged to go through the page for more details.

  • Create a ROS workspace
source /opt/ros/indigo/setup.bash 
mkdir -p ~/fetch_ws/src
cd ~/fetch_ws/src 
catkin_init_workspace
  • Clone relevant ROS packages
git clone https://github.com/fetchrobotics/fetch_ros.git

git clone https://github.com/fetchrobotics/robot_controllers.git

git clone https://github.com/HumanoidRobotics/fetch_gazebo.git
  • Build packages
cd ..
catkin_make
  • Run set-up

Start Gazebo simulator with the playground:

source devel/setup.bash
roslaunch fetch_gazebo playground.launch

Wait until the simulator is fully running and then run the demo launch file:

source devel/setup.bash
roslaunch fetch_gazebo_demo demo.launch
  • RVIZ visualization You can visualize several details about the robot in rviz.
source devel/setup.bash
rosrun rviz rviz

Add the robot model to the scene in rviz. You can add other components to rviz (play around with this).

Demo to TAs

  • Show the simulated robot in action

  • List 5 properties of the robots you can access in rviz

References