robotnik/robotnik-simulations repository overview

⁠Robotnik Automation Simulations

Robotnik Automation⁠ is a Spanish company specialized in the development of industrial robots and automation systems. This repository contains the simulation models of the robots and the environment used in the Robotnik Automation⁠ laboratories.

⁠Available robots

• RB-THERON⁠ rb-theron. Differential wheeled mobile robot designed for indoor applications.

• RB-VOGUI⁠ rb-vogui.

• RB-1 BASE⁠ rb1-base.

• SUMMIT-XL STEEL⁠ summit-xl-steel.

• SUMMIT-XL⁠ summit-xl.

• RB-CAR⁠ rb-car.

⁠Supported simulators

• Gazebo Classic⁠ gazebo.

• Gazebo⁠ gz.

• Webots⁠ webots.

• V-REP⁠ vrep.

⁠Supported ROS distributions

• ROS2 Humble⁠ humble. Supported from May, 2022 to May, 2027.

⁠Prerequisites

• Nvidia GPU with installed drivers. With the following command you can check if you have the correct drivers installed:

    nvidia-smi
  

  Copy

• Nvidia Container Toolkit⁠. Please follow the instructions for your distribution.

⁠Usage

The following docker compose file can be used to run the simulation of the RB-THERON robot in Gazebo. The ROBOT_ID variable is used to set the name of the robot. The ROBOT_DESCRIPTION_FILE variable is used to set the robot configuration. The POS_X, POS_Y and POS_Z variables are used to set the initial position of the robot.

version: "3.7"
services:
  rb-theron-gazebo:
    image: robotnik/robotnik-simulations:rb-theron-gazebo-humble-0.1.2
    environment:
      DISPLAY: ${DISPLAY}
      NVIDIA_VISIBLE_DEVICES: all
      NVIDIA_DRIVER_CAPABILITIES: all
      ROS_DOMAIN_ID: 60
      ROBOT_ID: robot_a
      ROBOT_DESCRIPTION_FILE: dual_laser.urdf.xacro
      POS_X: 0.0
      POS_Y: 0.0
      POS_Z: 0.1
    volumes:
      - type: bind
        source: /tmp/.X11-unix
        target: /tmp/.X11-unix
    runtime: nvidia
    network_mode: host

To run the simulation, execute the following command:

docker-compose up

⁠Experimental

Also you can run simulation without nvidia graphic card. Just avoid nvidia docker and use this docker compose.

version: "3.7"
services:
  rb-theron-gazebo:
    image: robotnik/robotnik-simulations:rb-theron-gazebo-humble-0.1.2
    environment:
      DISPLAY: ${DISPLAY}
      ROS_DOMAIN_ID: 60
      ROBOT_ID: robot_a
      ROBOT_DESCRIPTION_FILE: dual_laser.urdf.xacro
      POS_X: 0.0
      POS_Y: 0.0
      POS_Z: 0.1
    volumes:
      - type: bind
        source: /tmp/.X11-unix
        target: /tmp/.X11-unix
    ipc: host
    network_mode: host

⁠Support

For issues and help troubleshooting, please contact us [email protected]⁠.

⁠License

As with all Docker images, these likely also contain other software which may be under other licenses (such as Bash, etc from the base distribution, along with any direct or indirect dependencies of the primary software being contained).

As for any pre-built image usage, it is the image user's responsibility to ensure that any use of this image complies with any relevant licenses for all software contained within.