Develop Simulations for RC Car and Drive-o-copter with Gazebo
Explore the world of simulations in CS/EE/ME 75(C) with hands-on practice using Gazebo for modeling the RC Car and Drive-o-copter. Dive into tutorials, homework assignments, and practical sessions to enhance your skills and understanding in control, planning, and autonomy algorithms.
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CS/EE/ME 75(C): Week 2 (3) House Keeping: Course Zoom Link: https://caltech.zoom.us/j/282171019 Hands-on review of last week s Exercises: Free time on Thursday? Hands-on Zoom practice for Gazebo tutorial: Monday? 1) Our goal: Develop simulations for RC Car and Drive-o-copter Many control, planning, autonomy algorithms can be simulated Will simplify eventual integration. 2) First Steps Learn how to simulate using Gazebo, and visualize using RVIS Write a URDF/SDF
Homework: Week 2 (3) Goal: become competent with Gazebo NOTE: Gazebo 11 is already installed in ROS Melodic Gazebo Tutorials: http://gazebosim.org/tutorials?cat=connect_ros Complete the following tutorial steps Visit the Installing gazebo_ros_pkgs (ROS 2) link on the tutorial page. Since Gazebo is already installed, you can skip down to the"Testing Gazebo and ROS 2 integration" Section. Complete the exercises on the remainder of this tutorial page Note that this tutorial is out of date in many ways! First, in step 3, the tutorial assumes that you are using the ROS crystal installation. Replace the word crystal, with melodic sudo apt install ros-melodic-ros-core ros-melodic-geometry2 Next note that the parts of the directory structure of gazebo-9 is different than earlier gazebos. Hence,
Homework: Week 2 (3) (draft: sure to be change) Goal: Start to become competent with Gazebo NOTE: Gazebo 11 is already installed in ROS Melodic Gazebo Tutorials: http://gazebosim.org/tutorials?cat=connect_ros Complete the following tutorial steps Visit the Installing gazebo_ros_pkgs (ROS 2) link on the tutorial page. Since Gazebo is already installed, you can skip down to the"Testing Gazebo and ROS 2 integration" Section. Complete the exercises on the remainder of this tutorial page Note that this tutorial is out of date in many ways! First, in step 3, the tutorial assumes that you are using the ROS crystal installation. Replace the word crystal, with melodic sudo apt install ros-melodic-ros-core ros-melodic-geometry2
Homework: Week 2 (3) Complete the following tutorial steps (continued) Next note that the parts of the directory structure of gazebo-9 is different than earlier gazebos. /usr/opt/ros/melodic/share/gazebo-plugins/worlds -> /usr/share/gazebo-9/worlds Also, many of the standard worlds are not updated to melodic yet Next attempt the URDF in Gazebo Next carry out the steps in Gazebo Plugins in ROS
