Creating a New Simulation Environment in Gazebo and Rviz

This is a guide to create a new ROS package with n Universal Robots given a series of inputs.

Inputs required from the user:

• Number of robots

• Type of robot(s)

• Starting orientation:

  • Role

  • Pitch

  • Yaw

• Starting position:

  • x

  • y

  • z

• Starting joint positions:

  • Shoulder Pan Joint

  • Shoulder Lift Joint

  • Elbow Joint

  • Wrist 1 Joint

  • Wrist 2 Joint

  • Wrist 3 Joint

Step-by-step set up

1. Create a ROS package

   1a. Navigate to the root of the project directory.

   2a. Run the ROS package generation script:

   ./scripts/create-ros-pkg

2. Bring up the world

   Execute the following script, but replace [PACKAGE_NAME] with the name of the package that was just created by the user.

   ./scripts/launch_[PACKAGE_NAME]

Understanding the newly generated package

Navigate to Generated ROS package architecture to understand the contents of the ROS package that was generated.

Understanding how the ROS package generation works

Navigate to ROS Package Generation Scripts Architecture to understand how the ROS package is generated.