Repository Summary
Checkout URI | https://github.com/rm-controls/rm_description.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-06-16 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
rm_description | 0.1.9 |
README
rm_description
Overview
This is a ROS package with description files of RoboMaster robot made by DynamicX.
Keywords: RoboMaster, URDF, description
Or, add some keywords to the Bitbucket or GitHub repository.
License
The source code is released under a BSD 3-Clause license.
Author: QiayuanLiao
Affiliation: DynamicX
Maintainer: QiayuanLiao, liaoqiayuan@gmail.com
The rm_description package has been tested under [ROS] Noetic on respectively 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
Installation
Building from Source
Dependencies
- Robot Operating System (ROS) (middleware for robotics),
-
rm_gazebo if
use_rm_gazbe
- gazebo_ros
- gazebo_ros_control
- xacro
Building
To build from source, clone the latest version from this repository into your catkin workspace and compile the package using
cd catkin_workspace/src
git clone git@github.com:gdut-dynamic-x/rm_description.git
# git clone https://github.com/gdut-dynamic-x/rm_description.git
cd ../
rosdep install --from-paths . --ignore-src
catkin build # Actually nothing to build
Usage
Run the simulation with:
roslaunch rm_description hero.launch
Config files
- worlds/empty.worlds Simulate physics eigen params.
Launch files
- hero.launch: Launch Gazebo and load hero robot.
Loading argument set
- **`load_chassis`** Load chassis URDF. Default: `true`.
- **`load_gimbal`** Load gimbal URDF. Default: `true`.
- **`load_shooter`** Load shooter URDF. Default: `true`.
- **`load_gazebo`** Load Gazebo params and run Gazebo. Default: `true`.
- **`use_rm_gazebo`** Use Gazebo params and run Gazebo. Default: `false`.
- **`paused`** Paused simulation when load Gazbeo. Default: `true`.
Chassis argument set
- roller_type
How to simulate the roller of mecanum wheel, set simple
to use sphere roller for speed up
simulation, set none
for real robot. Default: realistic
(use one sphere with two
capsule roller.stl).
Bugs & Feature Requests
Please report bugs and request features using the Issue Tracker .