# massage_sim

**Repository Path**: QiSheng918/massage_sim

## Basic Information

- **Project Name**: massage_sim
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2021-05-10
- **Last Updated**: 2022-03-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 按摩机器人Gazebo仿真平台
## install
1. open a terminal and run `mkdir -p ${YOUR_WORKSPACE}/src` and cd to the dir you mkdir
2. run the bash command below
```bash
git clone 
```
3. run the command
```bash
cd .. && catkin_make
```
## Usage
1. open a terminal and run
```bash
roslaunch massage_robot_simulation massage_robot_bringup.launch
```
2. For manipulator, the joint positon and velocity command are provided.
These methods can be verified by running the command
```bash
rostopic pub /velocity_group_controller/position_command std_msgs/Float64MultiArray '{data:[0,1,0,0,0,0]}'
```
```bash
rostopic pub /velocity_group_controller/velocity_command std_msgs/Float64MultiArray '{data:[0,0.01,0,0,0,0]}'
```
3. For mobile robot, the cmd_vec command are provided.
These methods can be verified by running the command
```bash
rostopic pub /cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.5" 
```
4. For camera, the depth and rgb data are provided.
5. If you want to use slam package,you can run `6-9` command
6. open a terminal and run
```bash
roslaunch massage_robot_slam roslaunch massage_robot_slam.launch
```
7.  open a terminal and run
```bash
roslaunch massage_robot_teleop massage_robot_teleop_key.launch
```
8. when gmapping completed,  run
```bash
rosrun map_server map_saver -f ~/map
```
9. Now the gmapping procedures are completed, you can use the navigation package, run
```bash
roslaunch massage_robot_navigation massage_robot_navigation.launch
```