VLBC Project Group10

Gazebo and ROS simulation of Mars Rover, Reach marker and fetch

Setup

1. Install ros-noetic by running-

   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' & curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

   sudo apt install ros-noetic-desktop-full

2. Install gazebo curl -sSL http://get.gazebosim.org | sh

3. Install available ros-controllers sudo apt install ros-*controller*

4. Activate the ros environment by source /opt/ros/noetic/setup.bash

5. cd in the folder and run cmake .

6. run the setup file source devel/setup.bash

7. To start the simulation and the spawn the rover in the gazebo world roslaunch rover rover.launch

Group 10

1. Pushkar Patel B20121

2. Om Kshatriya B20209

   Instructor Dr. Radhe Shyam Sharma TA: Mr. Yogesh Namdeo Dasgaonkar

Objectives

• Create environment
• Simulate rover movement and Actions
• Add camera and subcribe to feed
• Design IBVS Control for rover
• Integrate IBVS cnotrol in the simulation environment
• Simulation of autonomous rover

refrences

1. Inital setup script and environment is taken from [1]