Important

This is not original dolly repository. original_repo

Changes

• Created dolly_description package
• SDF File
  • Changed wheels pose
  • 2 caster wheel
  • Changed robot dimentions
  • Changed laser range finder configuration
• Created urdf files

Packages

This repository contains the following packages:

• dolly: Metapackage which provides all other packages.
• dolly_follow: Provides node with follow logic.
• dolly_gazebo: Robot model, simulation world and launch scripts for Gazebo-classic.
• dolly_description: Robot model URDF file, robot state publisher .

From source

Install instructions for Ubuntu Bionic.

1. Install at least one simulator, Gazebo or Ignition

2. Install the appropriate ROS 2 version as instructed here.

3. Clone Dolly, choose the branch according to your ROS distro:

    mkdir -p ~/ws/src
    cd ~/ws/src
    git clone https://github.com/chapulina/dolly -b <distro>
   

4. Install dependencies:

    cd ~/ws
    rosdep install --from-paths src --ignore-src -r -y \
        --skip-keys=ignition-math6 \
        --skip-keys=ignition-msgs5 \
        --skip-keys=ignition-transport8 \
        --skip-keys=ignition-gazebo3
   

   Tip: On Ubuntu Focal, there's no need to skip keys.

5. Build and install:

    cd ~/ws
    colcon build
   

Run

Gazebo-classic

If you had Gazebo installed when compiling Dolly's packages, Gazebo support should be enabled.

1. Setup environment variables (the order is important):

    . /usr/share/gazebo/setup.sh
    . ~/ws/install/setup.bash
   

   Tip: If the command ros2 pkg list | grep dolly_gazebo comes up empty after setting up the environment, Gazebo support wasn't correctly setup.

2. Launch Dolly in a city (this will take some time to download models):

    ros2 launch dolly_gazebo dolly.launch.py world:=dolly_city.world
   

3. Launch Dolly in an empty world:

    ros2 launch dolly_gazebo dolly.launch.py world:=dolly_empty.world