Wandering Application in a Waffle Gazebo* Simulation#

This tutorial shows a TurtleBot* 3 simulated in a waffle world. For more information about TurtleBot* 3 and the waffle world, see this.

Run the Sample Application#

  1. If your system has an Intel® GPU, follow the steps in the Get Started Guide for Robots to enable the GPU for simulation. This step improves Gazebo* simulation performance.

  2. Check if your installation has the turtlesim Docker* image.

    docker images |egrep "amr-turtlebot3|amr-rtabmap|amr-nav2|amr-wandering"
#if you have them installed, the result is:
amr-turtlebot3
amr-rtabmap
amr-nav2
amr-wandering

    Note

    If one or more of the images are not installed, continuing with these steps triggers a build that takes longer than an hour (sometimes, a lot longer depending on the system resources and internet connection).

  3. If one or more of the images are not installed, Intel® recommends installing the Robot Complete Kit with the Get Started Guide for Robots.

  4. Check that EI for AMR environment is set:

    echo $AMR_TUTORIALS
# should output the path to EI for AMR tutorials
/home/user/edge_insights_for_amr/Edge_Insights_for_Autonomous_Mobile_Robots_2023.1/AMR_containers/01_docker_sdk_env/docker_compose/05_tutorials

    If nothing is output, refer to Get Started Guide for Robots Step 5 for information on how to configure the environment.

  5. Run this command to start the Docker* container:

    docker compose -f $AMR_TUTORIALS/wandering_gazebo.tutorial.yml up

    Expected output:

    After Gazebo* starts, the robot starts wandering inside the simulation. See the simulation snapshot:

    ../_images/gazebo_waffle.png

    To increase performance, the real time update rate can be set to 0:

    1. In Gazebo*’s left panel, go to the World Tab, and click Physics.

    2. Change the real time update rate to 0.

  6. To close this, do the following:

    • Type Ctrl-c in the terminal where you did the up command.

    • Remove the stopped containers:

    docker compose -f $AMR_TUTORIALS/wandering_gazebo.tutorial.yml down --remove-orphans

Troubleshooting#

If the robot is not moving but Gazebo* has started, start the wandering application manually by opening a container shell and entering:

docker compose -f $CONTAINER_BASE_PATH/01_docker_sdk_env/docker_compose/01_amr/amr-sdk.all.yml run wandering bash
ros2 run wandering_app wandering

For general robot issues, go to: Troubleshooting for Robot Tutorials.