fetch_gazebo_noetic_ws

This repository contains a ROS Noetic workspace that enables simulation of a Fetch robot based on the Gazebo simulations from fetch_gazebo.

It is a work in progress, system may not build at this time.

This project was part of CSC 7135 Software Engineering project taught by Professor Umar Farooq at Louisiana State University.

Prequisits

The following packages must be installed prior to installing

• Ubuntu 20.04
• ROS Noetic

Install dependencies before building catkin

• Intall geometry2 module sudo apt install ros-noetic-geometry2*

• Intall navigation module sudo apt install ros-noetic-navigation

• Install moveit module sudo apt install ros-noetic-moveit

• Install simple_grasping module sudo apt install ros-noetic-simple-grasping

• Install teleop-twist-keyboard sudo apt-get install ros-noetic-teleop-twist-keyboard

• Install rgbd_launch sudo apt-get install ros-noetic-rgbd_launch

• Ensure numpy is installed in the enviornment (pipenv or conda)

Testing Fetch robot

• Launch the playground for pick-and-place simulation roslaunch fetch_gazebo pickplace_playground.launch

• Launch the pick and place demo roslaunch fetch_gazebo_demo pick_place_demo.launch

• Launch the basic simualtion roslaunch fetch_gazebo simulation.launch

Major changes from fectch_gazebo package

• FOO

TODOs

• [] Do a build test, launch test and record all dependencies
• [] Modify the README.md files in fetch_gazebo and fetch_gazebo_demo sub pacakges under the fetch_gazebo package
• [] Rebuild / Refactor update the find and pick and place example for the fetch gazebo with documentation