Gazebo description package for the ARGO3 robot
Tested on:
- Ubuntu 20.04 LTS
- ROS Noetic
This package contains:
- sdf model files: these files are single models (such as tracks, portals, train wheels and so on) that can be imported in the Gazebo world model.
- world files: these files describe the gazebo simulation environment.
- mesh files: mesh files describing the visual and/or collision properties of the tracks and trains
- executables: these executables are located in the bin folder, and are utilities.
ARGO_SIMULATION_WORKSPACE=argo3_simulation_ws
mkdir -p ~/$ARGO_SIMULATION_WORKSPACE/src
cd ~/$ARGO_SIMULATION_WORKSPACE/src
git clone [email protected]:nextgen-robotics/argo3_simulation_description.git
git clone https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git
cd ..
catkin_make
- Setup the ROS environment:
source ~/$ARGO_SIMULATION_WORKSPACE/devel/setup.bash
2 Tests:
- Real train world (Empty gazebo simulation - Just the scenario):
You can change here the world_filename argument in order to change scenarios within the ones that are already saved in the urdf/worlds folder
roslaunch argo3_description test_real_train_world.test
- This is just a gazebo description package. It is not meant to be run as a standalone;
- This package is used in conjunction with argo3_simulation
- In WSL, in order to visualize the meshes, it is needed to first run this command:
export LIBGL_ALWAYS_SOFTWARE=1