This repo has Orion 5 robot and control simulation in the gazebo factory environment. It was created for the Mcfly Cobothon competition.
Author: Mehmet Kahraman / Date 18.10.2023
- Ubuntu 20.04 Focal
- ROS 1 Noetic Desktop Full
sudo apt install ros-noetic-gazebo-ros*
sudo apt install ros-noetic-gazebo-dev
sudo apt install ros-noetic-gazebo-plugin
sudo apt install ros-noetic-gazebo-msgs
sudo apt install ros-noetic-robot-controllers*
sudo apt install ros-noetic-robot-state*
sudo apt install ros-noetic-joint*
sudo apt install ros-noetic-control*
sudo apt install ros-noetic-trajectory*
sudo apt install ros-noetic-transmission*
Competition manual can be found in this workspace which is called competition_manual.pdf
To display the robot on Rviz:
roslaunch robot_description display_robot.launch
To launch gazebo factory environments for chapters:
roslaunch factory_simulation sim_chapter1.launch
roslaunch factory_simulation sim_chapter2.launch
To spawn the robot:
roslaunch factory_simulation spawn_robot.launch
Spawn Box Models Node in Gazebo:
rosrun factory_simulation box_spawner.py
Factory Image:
Chapter 1:
Chapter 2:
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