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This package contains additional description files used for Clearpath Robotics' OutdoorNav software.
Getting Started - Physical Robots
If you have a physical robot that uses OutdoorNav, please follow the OutdoorNav user manual for instructions on configuring your robot model.
The OutdoorNav setup script will prompt you to configure the type, number, and position of all sensors on the robot, automatically generating the necessary environment variables and configuring the robot's description as needed.
Getting Started - Simulations
To simplify simulating robots with the OutdoorNav hardware, several scripts with the necessary environment variables have been provided to add common configurations to existing platforms:
|Husky Starter Kit
|Jackal Starter Kit
|Warthog Starter Kit
To simulate these configurations, source the appropriate file in the
scripts directory, and then start the
simulation, for example:
source $(catkin_find cpr_onav_description scripts/husky_starter_kit_envars.bash --first-only)
roslaunch husky_gazebo husky_playpen.launch
The Husky Observer configuration features a PTZ camera, which contains PID controllers to enable control over the pan
and tilt of the camera. The
simulated_ptz_action_server package which can be used to add an
actionlib interface to control the
position and zoom level of the simulated camera if desired.