gwendolen-ros-jackal

Examples of a Gwendolen agent autonomously controlling a Clearpath Jackal UGV.

Requires gwendolen-rosbridge to be installed and working.

Also requires Jackal ROS packages to be installed. Make sure to install jackal main files (You can test if it installed correctly with the commands in the "Start simulation" section of that link, however you do not have to follow the tutorial at the end).

Requires Ubuntu 16.04 and ROS Kinetic.

Race world

Race world is a Gazebo world that comes with the Jackal package. The Gwendolen agent simply moves to a coordinate in the map.

To run the race world simulation:

1. Copy the launch file launch/jackal_world_with_rosbridge.launch to ~/jackal_ws/src/jackal_simulator/jackal_gazebo/launch
   • Make sure you either source ~/jackal_ws/devel/setup.bash everytime you wish to launch race world on a new terminal, or add it to your ~/.bashrc
2. Copy the folder simple_navigation_goals to ~/jackal_ws/src/
3. Recompile your catkin workspace by going to ~/jackal_ws/ and running catkin_make
4. Copy the src folder to MCAPL root
5. Launch the race world in ros roslaunch jackal_gazebo jackal_world_with_rosbridge.launch
6. In Eclipse, go to src/examples/gwendolen/ros/jackal/race, right-click jackal.ail, select run as > run configurations, type run-AIL in the search box (should be there if MCAPL was installed correctly), and click on run
   • The robot will move to a specific coordinate in the world.