rsv_balance_simulator repository

Repository Summary

Checkout URI https://github.com/robosavvy/rsv_balance_simulator.git
VCS Type git
VCS Version master
Last Updated 2017-10-09
Dev Status MAINTAINED
Released UNRELEASED

Packages

README

rsv_balance_simulator

Simulator packages for Robosavvy's balancing platform


Packages

  • rsv_balance_gazebo

Package containing all necessary tools to run self-balancing platform on simulation: * Gazebo models. * Gazebo worlds. 1. Empty. 1. Inclined terrain. 1. Natural terrain. * Launch files for: 1. Gazebo worlds. 1. RVIZ simulation visualization. * Gazebo plugin for the platform model which behaves just like the real thing.

  • rsv_balance_gazebo_control

Self-balancing control algorithm for the Gazebo plugin.


ToDo: Further improvements

  1. Refactor controller for better generalization. So we can easily test other control methods.
  2. URDF parser for automatic building of control matrices and control gains.

Repository Summary

Checkout URI https://github.com/robosavvy/rsv_balance_simulator.git
VCS Type git
VCS Version master
Last Updated 2017-10-09
Dev Status MAINTAINED
Released UNRELEASED

Packages

README

rsv_balance_simulator

Simulator packages for Robosavvy's balancing platform


Packages

  • rsv_balance_gazebo

Package containing all necessary tools to run self-balancing platform on simulation: * Gazebo models. * Gazebo worlds. 1. Empty. 1. Inclined terrain. 1. Natural terrain. * Launch files for: 1. Gazebo worlds. 1. RVIZ simulation visualization. * Gazebo plugin for the platform model which behaves just like the real thing.

  • rsv_balance_gazebo_control

Self-balancing control algorithm for the Gazebo plugin.


ToDo: Further improvements

  1. Refactor controller for better generalization. So we can easily test other control methods.
  2. URDF parser for automatic building of control matrices and control gains.