Fusion 360 to URDF | Custom Gazebo World Making | Gmapping | Map Server | Part -3
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- Опубликовано: 28 окт 2024
- This is the 3rd Part of the Fusion 360 to URDF Series
In this tutorial I have explained how to:
1) Create a custom Gazebo world
2) Spawn your Robot model in the same
3) How to Fix TF error
4) Importance of Joint State Publisher and Robot State Publisher
5) How to install Gmapping Package and Create a Launch File
6) Finally Mapping the Gazebo world and saving the Map
Thank You for watching and Happy Learning!
Note: If you find any corrections and suggestions to improve the next video please do let me know in the comments.
#ROS #RobotOperatingSystem #Robotics#Fusion2URDF
nice explanation. But i am getting the error "no map recieved". All my turtlebot3 regarding things are working.i even tried with your mapping launch file.can you please help to solve. i am using noetic
can you try using this as launch file for mapping?
Good going 🎊🎉
Bro autonomous SLAM of a robot without teleop, a video on that would be really appreciated. Like Robot is driving itself.
Also a recommendation, how about applying path planning algorithms like A*, RRT, Dijkstras on robot that would be awesome
Sure will consider that 😊 Thankyou for the suggestion!
Nice video.. waiting for more to implement.. 🔥🔥
thank you ........very resourceful.....!
Awesome Videos everything is explained perfectly 🔥
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Hello Peter,
If i am to create multiple worlds do I always have to go back to the gazebo.launch file to change the launch file from "myworld.world" to a different launch file?
you can create multiple world files and specify the change in the launch file, no need to create a new launch file. If that is what you asked 😅
perfect bro, thank you so much.
👍👍👍
Hello Peter,
I wanted to find out how you generated the "rqt" in 11:32 of the video? I typed it on the terminal and it generated a blank default document. Thank you
Try
rosrun rqt_graph rqt_graph
@@Jp_Robotics Thank you so much, it worked
Could you please upload a video regarding the Autonomous Navigation part with this saved map?
Yeah, will do one soon!
One small doubt Do we need to git clone gmapping package? or only one launch file which you created is fine for generating map?
Git clone and do a catkin_make
@@Jp_Robotics okay clear
@@umeshmane3886 perfect 🙌
@@Jp_Robotics bro i dint understand this can u plz help me out how to git clone and do a catkin_make ...?
Thanks bro
Hi Peter! Thank you for the awesome guideline videos! I have an issue where I got a message "No map received" under the Map's Status. I'm using ros kinetic, I am not sure whether is it due to an error when launching gazebo.launch where it states "missing default" and "missing
can you try using this as launch file for mapping?
@@Jp_Robotics yes I tried this but error of the message is still there.
@@JudgeIronist1 check if the tf tree is complete
Type rqt in terminal open tf tree
@@Jp_Robotics seems nothing wrong as all of the features are present.
@@JudgeIronist1 Ummm...check if you have sourced the environment properly and try if turtlebot simulation is working
hi, even after setting fixed frame as base link, the robot is not visible in rviz and it still shows status error. please could u let me know what is wrong. thank you.
Hope you exported the urdf from fusion, 360 without any errors. If everything goes well then you should be able to visualise your robot in Rviz
It was an awsome tutorial sir . Actually can u do simulation of scara robot with help of ros noetic
Sure, If you have a working urdf model, I can try create a video
Can you please do simulation for UR5 in gazebo and make a world for conveyer belt and things on it?
can you add video tutorials about slam and navigation, please?
Can you specify what all do you want in Slam and navigation?
Hi there Peter, followed your videos all the day and so far, you're doing an amazing job man!
However, I am stuck at 15:11, coz when i add Map to RViz, I get 'no map received' when I set the topic to /map. what could be the issue?
Hi..Check if your Gmapping node is running correctly. Gmapping node is responsible for publishing the map as well as the TF for it.
Also make sure that your Gmapping launch file as these 2 lines
Hope it helps!
@@Jp_Robotics Thanks for replying! I have all of that in the mapping.launch just like you did. I run the files in order just like you did. I also ensured the gazebo world was running before doing anything else. I also set the 2 values in myrobot.xacro to false, just like you did. I rechecked and all, but that's the part I am stuck at. I wonder what could be wrong?
@@goplayman5658 can you take a look at your tf tree and check if map is there
@@Jp_Robotics I have looked at the tf tree, the map is present. I still I don't understand what could be wrong :(
Also, when I run rostopic list, I see the /map topic avaiable
Brother. The robot is not getting displayed in rviz. Even after adding robot model
Check if ur fixed frame is base_link
@@Jp_Robotics where to check. Btw thanks for replying.
In rviz the options to the left you can see a fixed frame by default it might be set to map change it to base_link
@@Jp_Robotics I changed it brother, still not visible
@@sharp_guy2310 which launch file did you run?
Brother. How to write footprint of this robot. Please do reply bro...
base_footprint is just the dimension of the base of your robot written in coordinates.
for eg if you robot dimension is 30cm x 30cm
Imagine the center of the the robot is at 0,0
then your base foot print will be
[[-0.3,-0.3],[-0.3,0.3],[0.3,0.3],[0.3,-0.3]]
Hope its clear!
@@Jp_Robotics thanks bro.