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  • Author Author: shabaz
  • Date Created: Date Created
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Building a Robot! (Simulated)

shabaz

After having built a couple of small wheeled platforms (a crude attempt called XMP-1 and a slightly better one called XMP-2) I was curious what simulation tools were out there specifically geared toward robotics design.

This is just a quick summary of one of the simulation tools that are available, called Gazebo.

 

Gazebo was incredibly easy to get going – a single command line will install it onto Linux, and when run it is easy to add bits and pieces from the toolbar and get going.

I’ve yet to work through the tutorials but I’m hoping to eventually simulate XMP-2 so I can write better code easily.

 

Here is a screenshot of Gazebo, and a quick video showing some basic physics, pushing the robot into coke cans.

image

 

Video:

 

More complex movements are possible too. Here is a robot gripper with torque being applied to part of it:

image

Video:

 

The simulation includes gravity and friction and many attributes are configurable.

The models can be created in XML files, and the tutorials look comprehensive.

The example below from a tutorial shows a snippet of a robot, where a box-shaped chassis is needed. The <pose> element contains the position (xyz, and orientation in three dimensions). The <collision> and <geometry> elements contain a <box> element which defines a box of size 0.4x0.2x0.1m in this example.

Usually they are the same; one element is used for the graphics, and the other is for the collision-detection algorithm to use.

image

 

The simulation can be connected up to real hardware or software through the use of an application programming interface (API), so it is possible to test robotics software before you've built the hardware, or you can interface your sensors and start programming movements.

It all looks extremely interesting!

Check out the second part by clicking here, which goes into detail about how to construct a model (based on a real hardware robot called XMP-2) and how to control it using external stimulus.

Parents

  • Hi Shabaz!

     

    It sounds strange but I had serious problems installing Gazebo with the single-command. Used a newly fresh installation of Ubuntu 14.04.3 LT (the last updated) and I get serious issues of dependencies. Maybe there is something I have missed or not read in the Gazebo installation tutorial. What method did you used? The shell script I have downloaded it from the main gazebo site ...

     

    Enrico

  • in reply to balearicdynamics

    Hi Enrico,

     

    I Installed ubuntu-14.04.3-desktop-amd64.iso and then in a terminal as normal user did 'sudo ls' (just so that it wouldn't

    prompt for a password during the single install line below, which includes sudo in there; probably I didn't need to

    do this, but just in case) and then did this command line:

    wget -O /tmp/gazebo6_install.sh http://osrf-distributions.s3.amazonaws.com/gazebo/gazebo6_install.sh; sudo sh /tmp/gazebo6_install.sh


    and then it was able to run (by typing gazebo).

  • in reply to shabaz

    Hello Shabaz,

     

    just tried now (but this method I had already tried before). Take a look to the next image image

     

    Enrico

     

    The following is what I get from the installation:

     

    image

  • in reply to balearicdynamics

    Hi Enrico,

     

    Very weird. I can't see what thing we're doing different : (

    I can still see the install output on my command line, but it scrolls beyond the scroll buffer so I can only capture the last 500 lines:

     

    Selecting previously unselected package libplayertcp3.0.
Preparing to unpack .../libplayertcp3.0_3.0.2+dfsg-4.1ubuntu3_amd64.deb ...
Unpacking libplayertcp3.0 (3.0.2+dfsg-4.1ubuntu3) ...
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Processing triggers for man-db (2.6.7.1-1ubuntu1) ...
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Processing 32 changed doc-base files, 9 added doc-base files...
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Rebuilding /usr/share/applications/bamf-2.index...
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(gtk-update-icon-cache-3.0:24477): GdkPixbuf-WARNING **: Cannot open pixbuf loader module file '/usr/lib/x86_64-linux-gnu/gdk-pixbuf-2.0/2.10.0/loaders.cache': No such file or directory


This likely means that your installation is broken.
Try running the command
  gdk-pixbuf-query-loaders > /usr/lib/x86_64-linux-gnu/gdk-pixbuf-2.0/2.10.0/loaders.cache
to make things work again for the time being.
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update-alternatives: using /usr/lib/libblas/libblas.so to provide /usr/lib/libblas.so (libblas.so) in auto mode
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Setting up libpci-dev (1:3.2.1-1ubuntu5) ...
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Setting up libxi-dev (2:1.7.1.901-1ubuntu1.1) ...
Setting up x11proto-randr-dev (1.4.0+git20120101.is.really.1.4.0-0ubuntu1) ...
Setting up libxrandr-dev:amd64 (2:1.4.2-1) ...
Setting up libxcursor-dev:amd64 (1:1.1.14-1) ...
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Setting up libxcomposite-dev (1:0.4.4-1) ...
Setting up libxml2-utils (2.9.1+dfsg1-3ubuntu4.4) ...
Setting up libgtk2.0-dev (2.24.23-0ubuntu1.3) ...
Setting up libjasper-dev (1.900.1-14ubuntu3.2) ...
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Setting up robot-player-dev (3.0.2+dfsg-4.1ubuntu3) ...
Setting up libsimbody-dev:amd64 (3.5.1-1~trusty) ...
Setting up libhwloc-plugins (1.8-1ubuntu1.14.04.1) ...
Setting up proj-bin (4.8.0-2ubuntu2) ...
Setting up odbcinst1debian2:amd64 (2.2.14p2-5ubuntu5) ...
Setting up unixodbc (2.2.14p2-5ubuntu5) ...
Setting up libgdal1h (1.10.1+dfsg-5ubuntu1) ...
Setting up libgazebo6:amd64 (6.5.1-1~trusty) ...
Setting up gazebo6 (6.5.1-1~trusty) ...
Setting up gazebo6-plugin-base (6.5.1-1~trusty) ...
Setting up unixodbc-dev (2.2.14p2-5ubuntu5) ...
Setting up libgdal-dev (1.10.1+dfsg-5ubuntu1) ...
Setting up libgazebo6-dev:amd64 (6.5.1-1~trusty) ...
Setting up odbcinst (2.2.14p2-5ubuntu5) ...
Processing triggers for libc-bin (2.19-0ubuntu6.6) ...
Complete.
Type gazebo to start the simulator.
shabaz@ubuntu:~$

     

    My install of ubuntu-14.04.3-desktop-amd64.iso was normal, I didn't enter anything except display name/username/password, which is probably exactly all you did too.

    And then opened up a terminal, and did my 'sudo ls' command so that it would accept my user password, and then issued that single command line.

    By the way, I had a network connection during the install of ubuntu, so that it could download whatever it needed to. I'm guessing you had that too, right?

    If not, that is all I can see that could be different : (

  • in reply to shabaz

    Hi Shabaz ... ;(

     

    There is a possibility, that we never can discover. And I will try next days (now it is reasonably late I an start working on just only one computer instead the usual 2-3 image) you are working with the 64 bit version and I am on the 32 bit version. The reason is that a VM 32 bit works faster in a Mac 64 bit. But I have a lot of ram here (32 Gb hacked) and I can create a 64 bit version to test it.

     

    This is the only real difference I an see.

    Some other ideas ?

     

    Enrico

Comment
  • in reply to shabaz

    Hi Shabaz ... ;(

     

    There is a possibility, that we never can discover. And I will try next days (now it is reasonably late I an start working on just only one computer instead the usual 2-3 image) you are working with the 64 bit version and I am on the 32 bit version. The reason is that a VM 32 bit works faster in a Mac 64 bit. But I have a lot of ram here (32 Gb hacked) and I can create a 64 bit version to test it.

     

    This is the only real difference I an see.

    Some other ideas ?

     

    Enrico

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