It's a sheep, it's a dolly, it's a following robot. Born to be cloned.

Packages for launching Dolly demo, which uses ROS 2 and either Gazebo or Ignition.

Gazebo	Ignition

Dolly has been tested on:

• ROS 2 version:
  • ROS Crystal: crystal branch
  • ROS Dashing: dashing branch
  • ROS Eloquent: master branch
• Gazebo version:
  • Gazebo 9
• Ignition version:
  • Citadel
• Operating system:
  • Ubuntu Bionic
  • OSX Sierra (thanks, @Karsten1987 !)

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:

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

4. Ignition only: clone the bridge:

    git clone https://github.com/ignitionrobotics/ros_ign -b dashing
   

5. 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
   

6. Build and install:

    cd ~/ws
    colcon build
   

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
   

1. Setup environment variables:

    . ~/ws/install/setup.bash
   

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

2. Launch Dolly in a station:

    ros2 launch dolly_ignition dolly.launch.py
   

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_ignition: Robot model, simulation world and launch scripts for Ignition.

• QConSF 2018
  • Video
  • Code
• InfoQ: Open Source Robotics: Getting Started with Gazebo and ROS 2
• ROS Developers LIVE Class #70: How to Control a Robot with ROS2 (Dashing)
• ROSConJP 2019
  • Video
  • Code