文件列表:

LICENSE (1358, 2020-07-21)
gazebo.png (140778, 2020-07-21)
kugle_gazebo (0, 2020-07-21)
kugle_gazebo\CMakeLists.txt (7973, 2020-07-21)
kugle_gazebo\config (0, 2020-07-21)
kugle_gazebo\config\rosconsole.conf (197, 2020-07-21)
kugle_gazebo\launch (0, 2020-07-21)
kugle_gazebo\launch\gazebo.launch (2675, 2020-07-21)
kugle_gazebo\launch\pedsim.launch (3104, 2020-07-21)
kugle_gazebo\launch\rosbag.launch (778, 2020-07-21)
kugle_gazebo\models (0, 2020-07-21)
kugle_gazebo\models\maps (0, 2020-07-21)
kugle_gazebo\models\maps\aau_frb7c_l0.pgm (3222033, 2020-07-21)
kugle_gazebo\models\maps\control_lab (copy).png (792, 2020-07-21)
kugle_gazebo\models\maps\control_lab.dae (8114954, 2020-07-21)
kugle_gazebo\models\maps\control_lab.png (1693, 2020-07-21)
kugle_gazebo\models\maps\control_lab_highres.dae (40761865, 2020-07-21)
kugle_gazebo\models\maps\frb7_grayscale.png (38139, 2020-07-21)
kugle_gazebo\models\maps\frb7c.dae (9004783, 2020-07-21)
kugle_gazebo\models\maps\frb7c.png (2607, 2020-07-21)
kugle_gazebo\models\maps\frb7c_2.png (6655, 2020-07-21)
kugle_gazebo\models\maps\frb7c_binary.png (5438, 2020-07-21)
kugle_gazebo\models\maps\frb7c_highres.dae (43732802, 2020-07-21)
kugle_gazebo\models\maps\heightmap.png (5897, 2020-07-21)
kugle_gazebo\models\maps\heightmap2stl.jar (15953, 2020-07-21)
kugle_gazebo\models\maps\maps.sdf (1634, 2020-07-21)
kugle_gazebo\models\maps\model.config (316, 2020-07-21)
kugle_gazebo\models\maps\wall.jpg (3623, 2020-07-21)
kugle_gazebo\package.xml (3619, 2020-07-21)
kugle_gazebo\plugins (0, 2020-07-21)
kugle_gazebo\plugins\gazebo_ballbot_acceleration_control.cpp (29236, 2020-07-21)
kugle_gazebo\plugins\gazebo_ballbot_acceleration_control.h (4677, 2020-07-21)
kugle_gazebo\plugins\gazebo_position_control.cpp (13037, 2020-07-21)
kugle_gazebo\plugins\gazebo_position_control.h (4190, 2020-07-21)
kugle_gazebo\scripts (0, 2020-07-21)
kugle_gazebo\scripts\test_attitude.sh (302, 2020-07-21)
... ...

# Kugle-Gazebo This repository contains the Gazebo Simulation model of the Kugle robot developed as part of the master thesis work described in [Kugle - Modelling and Control of a Ball-balancing Robot](https://github.com/mindThomas/Kugle-MATLAB/blob/master/Kugle%20-%20Modelling%20and%20Control%20of%20a%20Ball-balancing%20Robot.pdf).  Notice that this model is not a complete simulation model of the ballbot but is only used as an abstraction to simulate and test navigation and planning algorithms for the Kugle robot using its' holonomic properties. # Install catkin tool ```bash sudo apt-get install python-catkin-tools ``` # Cloning To set up the simulation environment you need to clone the necessary repositories into an existing or new catkin workspace. Follow the steps below to set up a new catkin workspace and clone: ```bash mkdir -p ~/kugle_ws/src cd ~/kugle_ws/src catkin_init_workspace git clone https://github.com/mindThomas/Kugle-Gazebo git clone -b melodic https://github.com/mindThomas/Kugle-ROS git clone -b melodic https://github.com/mindThomas/realsense_gazebo_plugin cd .. rosdep install --from-paths src --ignore-src -r -y ``` # Building Build the project with catkin build ```bash cd ~/kugle_simulation_ws catkin build source devel/setup.bash ``` # Launch simulation The Gazebo simulation can be launched with ```bash roslaunch kugle_gazebo gazebo.launch ``` But it is recommended to launch the simulation within the Kugle-ROS driver. See more at https://github.com/mindThomas/Kugle-ROS#simulation # Reset simulation The Gazebo simulation/world can be reset without having to restart Gazebo by calling: ```bash rosservice call /gazebo/reset_world ``` # Adjusting the real-time factor The real-time factor can be adjusted to e.g. simulate slower than real-time if some code takes longer time to execute on the computer running the simulation. In this case the ROS time will be slowed down accordingly such that computation time can be made negligible. # Videos A few videos illustrating the Gazebo simulation environment is listed below. **Joystick control of Kugle V1 simulation model in Gazebo** [](https://www.youtube.com/watch?v=fN6Yctv39fs&list=PLLtE4m3fKcOC_TuErjgOpTiI3abHPWM0x&index=12) **Kugle V1 Gazebo simulation with AMCL localization** [](https://www.youtube.com/watch?v=1IBuvJe25rY&list=PLLtE4m3fKcOC_TuErjgOpTiI3abHPWM0x&index=14) **First success with MPC combined with ROS move_base** [](https://www.youtube.com/watch?v=7Posm5jHJbw&list=PLLtE4m3fKcOC_TuErjgOpTiI3abHPWM0x&index=15) **Gazebo simulation of ACADO MPC integrated with ROS move_base** [](https://www.youtube.com/watch?v=bR7nAHf_e2s&list=PLLtE4m3fKcOC_TuErjgOpTiI3abHPWM0x&index=16)

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