1 00:00:00,900 --> 00:00:05,770 We are going to start working on creation of our void, as we have discussed earlier. 2 00:00:06,120 --> 00:00:09,180 We want a custom word for that. 3 00:00:09,690 --> 00:00:14,430 Well, the first thing that we need to do is to have a gazebo simulation, and then you will see it 4 00:00:14,430 --> 00:00:14,970 as a word. 5 00:00:15,000 --> 00:00:15,360 Okay. 6 00:00:15,990 --> 00:00:22,740 If you take a look into our gazebo simulation, we have a robot in the gazebo to start by saying it 7 00:00:22,740 --> 00:00:23,250 is raining. 8 00:00:23,520 --> 00:00:26,180 So we have this simulation here, right here. 9 00:00:26,190 --> 00:00:34,370 And what I want to do is to insert AD, but I'm doing it once more so you can understand better. 10 00:00:34,740 --> 00:00:42,480 If I go into my baseboard, then I have the models and I press open. 11 00:00:43,230 --> 00:00:46,590 Here I have four scalar means and B is number two. 12 00:00:46,590 --> 00:00:47,550 And then the camera. 13 00:00:48,180 --> 00:00:50,940 I'm going to show you how I did it. 14 00:00:50,940 --> 00:00:54,750 So first, this process is really simple. 15 00:00:54,750 --> 00:00:56,400 You understand it very well. 16 00:00:56,400 --> 00:00:57,750 The creation of the maze, right? 17 00:00:58,140 --> 00:01:02,410 So let me put it on my wall. 18 00:01:03,270 --> 00:01:07,410 What I now want to do is to save this world as a file. 19 00:01:07,680 --> 00:01:08,010 Okay? 20 00:01:08,010 --> 00:01:14,790 So I don't want to bring up again and again this means void, it means file, it means itself, and 21 00:01:14,790 --> 00:01:15,630 then save it as a friend. 22 00:01:15,630 --> 00:01:22,830 So let's save it as a maze board and gander. 23 00:01:23,040 --> 00:01:23,430 Okay. 24 00:01:24,510 --> 00:01:29,790 I'm going to save it inside of my maze bought folder here. 25 00:01:29,790 --> 00:01:32,220 I think I should create a new for learning. 26 00:01:32,220 --> 00:01:39,510 That folder is going to be named as worlds ways and let's save it. 27 00:01:40,110 --> 00:01:43,020 So the name is going to be Maze Bot 28 00:01:45,690 --> 00:01:54,240 Maze and Gamera okay dot world that is going to be the name. 29 00:01:54,240 --> 00:01:55,890 I want it to be saved. 30 00:01:58,170 --> 00:02:00,120 It is going to carry a camera as well. 31 00:02:00,300 --> 00:02:08,280 To weaken by the way, is utilize this file and launch it to gazebo as a but. 32 00:02:08,280 --> 00:02:13,500 For now what I want to do is to directly perform another step and that is to add a camera inside of 33 00:02:13,500 --> 00:02:13,650 it. 34 00:02:14,910 --> 00:02:22,050 The way that we created this means we are going to now use model editor instead of added that previously 35 00:02:22,050 --> 00:02:29,220 we created this media using related editor model and that is going to be utilized to create a model 36 00:02:30,360 --> 00:02:31,650 like this square. 37 00:02:31,650 --> 00:02:39,990 I'm going to put it here and I will be interested in changing the properties of this newly created model. 38 00:02:40,980 --> 00:02:45,930 The first thing that I want to do is to create change it visually. 39 00:02:46,590 --> 00:02:57,930 If I put it here and I change the values of its physical geometry to be 0.8, 0.2, 0.2 sort of board. 40 00:02:58,410 --> 00:03:04,800 And again for the collision properties as physical collision properties matter a lot in gazebo 0.8, 41 00:03:04,800 --> 00:03:08,610 0.8 and 0.2 in what, 1.2, 0.8? 42 00:03:08,610 --> 00:03:12,600 Okay, now it is ready. 43 00:03:13,080 --> 00:03:16,440 And in my scenario the board is ready for the camera. 44 00:03:17,070 --> 00:03:19,200 We need to add the camera sensor into it. 45 00:03:19,200 --> 00:03:30,210 So for now, this sensor is going to be placed at a certain height because it is going to be looking 46 00:03:30,570 --> 00:03:31,710 from some height. 47 00:03:32,760 --> 00:03:34,590 Let me bring it at the top. 48 00:03:35,130 --> 00:03:41,130 And at this specific point, it is going to be looking at the mass from the above. 49 00:03:41,130 --> 00:03:43,320 So I think the model is ready. 50 00:03:43,320 --> 00:03:44,310 Let's save it. 51 00:03:46,230 --> 00:03:57,210 This is going to be a temporary model and I will just save it randomly in my model editor models. 52 00:03:57,930 --> 00:03:59,730 So yes, replace it. 53 00:04:00,390 --> 00:04:06,300 And that is going to happen when very, very funny you think and that is it is going to fall. 54 00:04:06,960 --> 00:04:09,330 Yes, I want it to be pause. 55 00:04:09,330 --> 00:04:10,470 So it is currently pause. 56 00:04:10,470 --> 00:04:13,470 If I played the model is going to start moving downwards. 57 00:04:13,470 --> 00:04:17,100 If you can see it, it is falling on the ground because of gravity. 58 00:04:17,100 --> 00:04:19,080 We will fix that as well too. 59 00:04:19,080 --> 00:04:22,740 We have the camera, we have the means, we have the robot. 60 00:04:23,190 --> 00:04:28,590 Let's now save this configuration and save as previously. 61 00:04:28,620 --> 00:04:33,870 We are going to save it into this board mes camera. 62 00:04:33,930 --> 00:04:36,120 Don't worry, I will overrated. 63 00:04:39,690 --> 00:04:42,180 It is taking some time on my system. 64 00:04:42,180 --> 00:04:48,410 I want Google Chrome to browse some sensor properties from gazebo. 65 00:04:48,410 --> 00:04:55,080 Okay, so you actually just google gazebo camera sensor plugin. 66 00:04:56,970 --> 00:05:03,810 And that makes you come to this point gazebo plug ins and drawers, and you can directly get to this 67 00:05:03,810 --> 00:05:09,540 page, which is providing sensor plug in a model plug in, in a sense, a plug in, very interested 68 00:05:09,540 --> 00:05:18,120 in this in these visible properties in which we can just copy and paste these properties and make the 69 00:05:18,120 --> 00:05:18,750 camera work. 70 00:05:18,850 --> 00:05:25,980 So if we take a look here, what we have now is a gazebo, not large file arrays launch the words as 71 00:05:25,980 --> 00:05:36,750 well mes board meets world dot world and we have if you open up, there is a big file that has been 72 00:05:36,750 --> 00:05:41,970 automatically generated what, 1752 number of lines that is automatically generated. 73 00:05:42,180 --> 00:05:42,690 Okay. 74 00:05:44,160 --> 00:05:49,710 There is one important step that is remaining before we launch the large file that we have created which 75 00:05:49,710 --> 00:05:51,330 utilizes a void fight. 76 00:05:51,660 --> 00:05:55,530 So we have to go into our setup file here. 77 00:05:55,530 --> 00:06:03,180 We have to mention that you are going to obtain files from another folder to be copied to our install 78 00:06:03,180 --> 00:06:07,320 directory of our package and that is vous folder. 79 00:06:07,830 --> 00:06:15,750 The same way that we added these folders large u RDF meshes folder and now we are going to add the word 80 00:06:15,750 --> 00:06:22,800 folder as well because we required our word files to be copied or accessible as that. 81 00:06:23,280 --> 00:06:24,930 And that's how it is going to be. 82 00:06:25,110 --> 00:06:27,420 Simply it's going to be like this. 83 00:06:27,420 --> 00:06:33,480 All of the old files that we will be creating here are going to be saved into the voyage folder too. 84 00:06:33,490 --> 00:06:41,250 I'm going to say it means vault camera mes don't launch, don't buy. 85 00:06:42,090 --> 00:06:46,770 It is going to contain all of the things from gazebo. 86 00:06:47,250 --> 00:06:55,680 One extra thing is going to be added is the word file and that is going to be now I'm going to need 87 00:06:55,890 --> 00:06:57,750 to be where you file. 88 00:06:59,070 --> 00:07:09,000 It is going to be in the voice folder and the name is going to be this specific name, the word. 89 00:07:11,610 --> 00:07:15,300 It seem like a file that we're trying to access. 90 00:07:16,930 --> 00:07:20,790 So I have to just add one single line to make things work. 91 00:07:20,790 --> 00:07:25,260 And that is this line verbose wavefile. 92 00:07:25,890 --> 00:07:31,590 And that is it will file is going to be executed the way it should be. 93 00:07:31,800 --> 00:07:34,220 So our launch file is ready. 94 00:07:34,560 --> 00:07:41,900 What we need to do is to start the previous running thing and we need to perform qualifying. 95 00:07:42,180 --> 00:07:52,470 So if I exist this thing and I am going to my project workspace, part planning workspace and I am going 96 00:07:52,470 --> 00:07:57,620 to perform call can build allow overriding. 97 00:07:58,140 --> 00:08:01,920 If I'm typing it right means but. 98 00:08:04,620 --> 00:08:07,400 A lower rating is incorrect, I think. 99 00:08:07,410 --> 00:08:08,610 A spelling mistake. 100 00:08:09,030 --> 00:08:10,650 Yes, it was a spelling mistake. 101 00:08:12,450 --> 00:08:16,290 Now it has automatically overwritten all the files. 102 00:08:16,530 --> 00:08:18,480 Let me now run the file. 103 00:08:18,510 --> 00:08:19,380 Rice law. 104 00:08:19,380 --> 00:08:22,380 Rice to launch maize board. 105 00:08:23,880 --> 00:08:26,670 Uh, it's not okay. 106 00:08:26,970 --> 00:08:33,630 So the packaging of his maize bought maize board, camera, maize, dirt. 107 00:08:33,840 --> 00:08:35,730 Let's see if it works or not. 108 00:08:35,850 --> 00:08:36,690 It should work. 109 00:08:36,690 --> 00:08:40,740 By the way, there are some warnings as well. 110 00:08:40,770 --> 00:08:42,930 We we'll see what those warnings are. 111 00:08:42,930 --> 00:08:49,800 And we have the our camera, the MES and our robot as well. 112 00:08:50,160 --> 00:08:51,900 But the camera is on the ground. 113 00:08:52,170 --> 00:08:54,450 There are some sort of errors. 114 00:08:54,450 --> 00:08:56,940 Let me see if they are actual errors. 115 00:08:57,300 --> 00:08:59,730 These are sort of missing configuration file. 116 00:08:59,730 --> 00:09:04,740 I have included some parts in this insert folder that are not now available. 117 00:09:05,010 --> 00:09:06,840 That is why it is showing this error. 118 00:09:06,840 --> 00:09:09,760 So now don't worry about that, okay? 119 00:09:09,810 --> 00:09:11,910 All of our models are available here. 120 00:09:11,910 --> 00:09:17,190 We need to just add certain properties into this camera and make it work. 121 00:09:17,550 --> 00:09:21,480 Okay, so let's see what we can do in the next video.