ROS Tank Tutorial

This tutorial explains how to perform input/output using ROS in simulations with the “Tank” model, one of Choreonoid’s sample models. This is a ROS-oriented extension of the Tank Tutorial, which is based on Choreonoid’s basic functionality. Throughout this tutorial, we’ll reference relevant pages from the basic tutorial as needed. If you haven’t yet mastered the basics of simulation with Choreonoid, we recommend first completing the basic Tank Tutorial before proceeding with this tutorial.

This tutorial uses C++ for implementing control programs and utilizes ROS functionality through the roscpp library. By mastering this approach, you’ll be able to leverage various ROS features and resources through coding with the roscpp library. For details about the roscpp library, please refer to the roscpp manual and related documentation separately.

• Preparation
  • Setting Up ROS and Choreonoid-related Packages
  • Creating a Tutorial Package
  • Editing package.xml
  • Package File Structure
  • Starting the ROS Master
  • Launching a Work Terminal
• Step 1: Controlling Tank by Subscribing to the Joy Topic
  • Starting the Choreonoid Node
  • Creating a Simulation Project
  • Preparing the Gamepad
  • Transmitting Gamepad State via Joy Node
    • Publishing the Joy Topic
    • Installing and Starting the Joy Node
    • Checking the Joy Topic
  • Choreonoid Version Joy Node
  • Building the Controller
    • Controller Source Code
    • Editing CMakeLists.txt
    • Adding CMakeLists.txt to the src Directory
    • Building the Controller
  • Introducing the Controller
  • Running the Simulation and Controlling the Tank Robot with the Gamepad
  • Checking Joy Topic Connection Status
  • Introducing a Launch File
  • Source Code Explanation
  • Note: Confirming ROS Environment Execution
• Step 2: Publishing Tank State Output via JointState Topics
  • Overview
  • State Output Controller
  • Basic Structure of the State Output Controller
  • Creating a Node Handle
  • Creating a Publisher
  • Publishing Joint States
  • Introducing the State Output Controller
  • Verifying Topic Output
  • Displaying Joint Angle Graphs
• Step 3: Displaying Tank State by Subscribing to JointState Topics
  • Overview
  • Creating a State Visualization Choreonoid Project
  • Introducing the State Visualization Controller
    • Source Code
    • Building the Controller
    • Introducing to the Project
  • Running the Simulation & Visualization Projects
  • Creating a Launch File
  • Source Code Explanation
    • Header Includes
    • Member Variables
    • Initialization via the configure Function
    • Model State Updates
    • Termination Processing
• Step 4: Outputting Acceleration Sensor and Rate Gyro States
  • Overview
  • Sensor Value Output Controller
  • sensor_msgs/Imu Type Messages
  • Obtaining Sensor Devices
  • Obtaining Sensor State Values
  • Publishing Sensor Values
  • Introducing the Controller
  • Verifying Output Topics
  • Displaying Acceleration and Angular Velocity Graphs
• Step 5: Enhancing Tank State Display by Subscribing to Sensor Information Topics
  • Overview
  • Sensor State Acquisition Controller
  • Introducing the Sensor State Acquisition Controller
  • Displaying Sensor State Values with Body State View
  • Collision Behavior
  • Introducing the Sensor Visualizer Item
  • Source Code Explanation
    • Header Includes
    • Member Variables
    • Initialization Process
    • Updating Sensor Object States
    • Model Vibration Animation
    • Termination Processing