Fetch Gazebo

This repository contains the Gazebo simulation for Fetch Robotics Fetch and Freight Research Edition Robots.

Please note the branch: the default branch in GitHub is gazebo9.

1. gazebo11 should be used with ROS Noetic and Ubuntu 20.04 (untested as of 1-2021)
2. gazebo9 should be used with ROS Melodic and Ubuntu 18.04
3. gazebo7 should be used with ROS Kinetic and Ubuntu 16.04 (not supported on hardware)
4. gazebo2 should be used with ROS Indigo and Ubuntu 14.04 (EOL)

Tutorial & Documentation

Please refer to our documentation page: http://docs.fetchrobotics.com/gazebo.html

Launch it on ROSDS

The Fetch Gazebo packages can be run in the cloud, through an external service ROSDS, provided by TheConstruct. http://docs.fetchrobotics.com/gazebo.html#launch-it-on-rosds

ROS Buildfarm Release

Fetch Gazebo Package	Kinetic Source	Kinetic Debian	Melodic Source	Melodic Debian
fetch_gazebo
fetch_gazebo_demo
fetchit_challenge

ROS Buildfarm Devel

Fetch Gazebo Package	Melodic Devel
fetch_gazebo
fetch_gazebo_demo
fetchit_challenge

Changes

1. Removed the dropoff box from all worlds.

2. Removed the gearbox container from all worlds.

3. Added more gears and gearbox parts to fetchit_challenge_arena_montreal2019_highlights.world and fetchit_challenge_arena_montreal2019.world

4. Updated the screw bin in all worlds

5. Added screws to fetchit_challenge_arena_montreal2019_highlights.world and fetchit_challenge_arena_montreal2019.world

6. Added simple worlds based on fetchit_challenge_arena_montreal2019_highlights.world for each task.
   To run use:

   Caddy table: roslaunch fetchit_challenge main_arena_montreal2019_simple_caddy.launch

   Schunk table: roslaunch fetchit_challenge main_arena_montreal2019_simple_schunk_machine.launch

   Screw table: roslaunch fetchit_challenge main_arena_montreal2019_simple_screw.launch

   Gearbox table:roslaunch fetchit_challenge main_arena_montreal2019_simple_gearbox.launch

Before:

After:

7. Added NEC 0115A arena with long tables and foam board walls

roslaunch fetchit_challenge nec0115a_arena.launch
roslaunch fetchit_challenge nec0115a_arena_highlights.launch