Compatible Versions:

• ROS: Kinetic
• OS: Ubuntu-16.04
• Gazebo 7.0

Dependencies:

• Velodyne Simulator
• sudo apt-get install ros-kinetic-husky-gazebo
• Hector NIST Arenas Elements

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Install:

Clone this project on your ROS workspace, then run the command below:

~/catkin_ws$ catkin_make

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Person LiDAR Gazebo model

A Gazebo model in order to person detection purpose in an outdoor location using 3D LiDAR Velodyne which is compatible to ROS.

Usage:

Launch its launch files:

• Fixed persons:

  roslaunch agn_gazebo static_velodyne.launch
  

• Animated persons:

  roslaunch agn_gazebo animated_person.launch
  roslaunch agn_gazebo movement.launch
  

• To store the persons position in .csv files run the command below:

  roslaunch agn_gazebo groundtruth.launch
  

Gazebo:

Rviz:

Pioneer P3DX Gazebo model

A Gazebo model in order to wall-following and go-to algorithms purpose like the Bug navigation algorithm

Usage:

Launch its launch file:

roslaunch agn_gazebo pioneer.launch

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Rescue robot exploration Gazebo model

A Gazebo model in order to prepare an environment for a rescue robot on Exploration task in a ramped maze map.

Usage:

Launch its launch file:

roslaunch agn_gazebo rescue.launch

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