ROS(indigo)国外开源示例包括多机器人的V-Rep和Gazebo仿真等

1 micros_swarm_framework

使用超级经典的stage。

http://wiki.ros.org/micros_swarm_framework
 

启动stage：

  

   

    

     

    
    

     

      roslaunch micros_swarm_framework swarm_in_stage.launch
     
    
   

    

     

    
    

     

      <pre name="code" class="html">roslaunch micros_swarm_framework kernel.launch
     
    
  
 

roslaunch micros_swarm_framework app1.launch
 

roslaunch micros_swarm_framework app2.launch
 

2 Swarmathon(NASA)

  

   

    

     

    
    

     

      [NASA Swarmathon](http://www.nasaswarmathon.com)
     
    
   

    

     

    
    

     

      [iAnt robot swarms](http://swarms.cs.unm.edu)
     
    
   

    

     

    
    

     

      [University of New Mexico](http://www.unm.edu/)
     
    
  
 

  

   

    

     

    
    

     

      sudo apt-get install ros-indigo-robot-localization
     
    
   

    

     

    
    

     

      sudo apt-get install ros-indigo-hector-gazebo-plugins
     
    
   

    

     

    
    

     

      sudo apt-get install ros-indigo-joystick-drivers
     
    
  
 

https://github.com/BCLab-UNM/Swarmathon-ROS
 

~/rover_ws/Swarmathon_ROS$ ./run.sh
 

3 VRep-Ros Quadcopter Swarm

https://github.com/merosss/VRepRosQuadSwarm
 

  

   

    

     

    
    

     

      ~$ roscore
     
    
   

    

     

    
    

     

      ~/V-REP_PRO_EDU_V3_3_1_64_Linux$ ./vrep.sh
     
    
  
 

4 vrep_ros_bridge

这个例子可以测试机械臂，四旋翼飞行器和先锋机器人，这里以先锋机器人跟随二维码为例。

  

   

    

     

    
    

     

      ~$ roscore
     
    
   

    

     

    
    

     

      ~/V-REP_PRO_EDU_V3_3_1_64_Linux$ ./vrep.sh
     
    
   

    

     

    
    

     

      ~$ roslaunch demo_pioneer demo-visual-servo-pioneer-simulation.launch 
     
    
  
 

5 vrep_youbot_plugin

带有机械手臂的移动机器人。安装使用说明请参考：

https://github.com/mfueller/vrep_youbot_plugin
 

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原文链接：zhangrelay.blog.csdn.net/article/details/51737074