Instalation

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Alan Pereira edited this page Jun 2, 2021 · 2 revisions

To conveniently install this package along, follow these instructions:

Make sure that wstool is installed

sudo apt install python-wstool

Create a new catkin_workspace

mkdir ~/catkin_ws
cd ~/catkin_ws

Use wstool to install the packages

wstool init src https://raw.githubusercontent.com/alanexplorer/turtlebot_laccan/kinetic-devel/turtlebot_exploration.rosinstall

Compile and source the workspace

catkin_make
source devel/setup.bash

Get ground truth pose data in ROS Gazebo

We need to add the code below to the URDF model of the robot to get ground truth pose data

<gazebo>
  <plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>50.0</updateRate>
    <bodyName>base_link</bodyName>
    <topicName>ground_truth/state</topicName>
    <gaussianNoise>0.01</gaussianNoise>
    <frameName>world</frameName>
    <xyzOffset>0 0 0</xyzOffset>
    <rpyOffset>0 0 0</rpyOffset>
  </plugin>
</gazebo>