summit_xl_sim repository

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/summit_xl_sim.git
VCS Type git
VCS Version melodic-devel
Last Updated 2020-04-27
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
summit_xl_gazebo 1.1.3
summit_xl_sim 1.1.3
summit_xl_sim_bringup 1.1.3

README

summit_xl_sim

Packages for the simulation of the Summit XL











Packages

summit_xl_gazebo

Launch files and world files to start the models in gazebo

summit_xl_sim_bringup

Launch files that launch the complete simulation of the robot/s

Simulating Summit XL

  1. Install the following dependencies:

    • summit_xl_common link
    • robotnik_msgs link
    • robotnik_sensors link

    In the workspace install the packages dependencies:

    rosdep install --from-paths src --ignore-src -r -y

  1. Launch Summit XL simulation (1 robot by default, up to 3 robots):
  2. Summit XL:
  roslaunch summit_xl_sim_bringup summit_xl_complete.launch

  • or Summit XL Steel:
  roslaunch summit_xl_sim_bringup summit_xls_complete.launch

Optional general arguments:

  <arg name="launch_rviz" default="true"/>
  <arg name="gazebo_world" default="$(find summit_xl_gazebo)/worlds/summit_xl_office.world"/>
  <arg name="omni_drive" default="false"/> (only for Summit XL)


Optional robot arguments:

  <!--arguments for each robot (example for robot A)-->
  <arg name="id_robot_a" default="summit_xl_a"/>
  <arg name="launch_robot_a" default="true"/>
  <arg name="map_file_a" default="willow_garage/willow_garage.yaml"/>
  <arg name="localization_robot_a" default="true"/>
  <arg name="gmapping_robot_a" default="false"/>
  <arg name="move_base_robot_a" default="false"/>
  <arg name="amcl_and_mapserver_a" default="false"/>
  <arg name="x_init_pose_robot_a" default="0" />
  <arg name="y_init_pose_robot_a" default="0" />
  <arg name="z_init_pose_robot_a" default="0" />
  <arg name="xacro_robot_a" default="summit_xl_std.urdf.xacro"/>

  • Example to launch simulation with 3 Summit XL robots:
  roslaunch summit_xl_sim_bringup summit_xl_complete.launch launch_robot_b:=true launch_robot_c:=true

  • Example to launch simulation with 1 Summit XL robot with navigation:

  roslaunch summit_xl_sim_bringup summit_xl_complete.launch move_base_robot_a:=true amcl_and_mapserver_a:=true localization_robot_a:=true

  1. Enjoy! You can use the topic "${id_robot}/robotnik_base_control/cmd_vel" to control the Summit XL robot or send simple goals using "/${id_robot}/move_base_simple/goal"

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/summit_xl_sim.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-07-21
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
summit_xl_gazebo 1.1.3
summit_xl_sim 1.1.3
summit_xl_sim_bringup 1.1.3

README

summit_xl_sim

Packages for the simulation of the Summit XL

Packages

summit_xl_gazebo

Launch files and world files to start the models in gazebo

summit_xl_sim_bringup

Launch files that launch the complete simulation of the robot/s

Simulating Summit XL

  1. Install the following dependencies:

    • summit_xl_common link
    • robotnik_msgs link
    • robotnik_sensors link

    In the workspace install the packages dependencies:

    rosdep install --from-paths src --ignore-src -r -y

  1. Launch Summit XL simulation (1 robot by default, up to 3 robots):
  2. Summit XL:
  roslaunch summit_xl_sim_bringup summit_xl_complete.launch

  • or Summit XL Steel:
  roslaunch summit_xl_sim_bringup summit_xls_complete.launch

Optional general arguments:

  <arg name="launch_rviz" default="true"/>
  <arg name="gazebo_world" default="$(find summit_xl_gazebo)/worlds/summit_xl_office.world"/>
  <arg name="omni_drive" default="false"/> (only for Summit XL)
  <arg name="use_gpu_for_simulation" default="false"/>

Optional robot arguments:

  <!--arguments for each robot (example for robot A)-->
  <arg name="id_robot_a" default="summit_xl_a"/>
  <arg name="launch_robot_a" default="true"/>
  <arg name="map_file_a" default="willow_garage/willow_garage.yaml"/>
  <arg name="localization_robot_a" default="false"/>
  <arg name="gmapping_robot_a" default="false"/>
  <arg name="move_base_robot_a" default="false"/>
  <arg name="amcl_and_mapserver_a" default="false"/>
  <arg name="x_init_pose_robot_a" default="0" />
  <arg name="y_init_pose_robot_a" default="0" />
  <arg name="z_init_pose_robot_a" default="0" />
  <arg name="xacro_robot_a" default="summit_xl_std.urdf.xacro"/>

  • Example to launch simulation with 3 Summit XL robots:
  roslaunch summit_xl_sim_bringup summit_xl_complete.launch launch_robot_b:=true launch_robot_c:=true

  • Example to launch simulation with 1 Summit XL robot with navigation:

  roslaunch summit_xl_sim_bringup summit_xl_complete.launch move_base_robot_a:=true amcl_and_mapserver_a:=true

  1. Enjoy! You can use the topic "${id_robot}/robotnik_base_control/cmd_vel" to control the Summit XL robot or send simple goals using "/${id_robot}/move_base_simple/goal"

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/summit_xl_sim.git
VCS Type git
VCS Version indigo-devel
Last Updated 2017-10-05
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

summit_xl_sim

Packages for the simulation of the Summit XL

Image of Summit XL

summit_xl_control

This package contains the launch and configuration files to spawn the joint controllers with the ROS controller_manager. It allows to launch the joint controllers for the Summit XL (4 axes skid steering + 2 axes ptz), Summit XL OMNI (4 axes skid steering, 4 axes swerve drive), Summit X-WAM (4 axes skid steering, 4 axes swerve drive, 1 linear axis for scissor mechanism). The Summit XL simulation stack follows the gazebo_ros controller manager scheme described in http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo

summit_xl_gazebo

launch files and world files to start the models in gazebo

summit_xl_robot_control

control the robot joints in all kinematic configurations, publishes odom topic and, if configured, also tf odom to base_link. Usually takes as input joystick commands and generates as outputs references for the gazebo controllers defined in summit_xl_control. This package permits an alternative way to control the robot motion (4 motorwheels) that by default is carried on by the Gazebo plugin (skid-steer). In the default configuration this package only controls the pan-tilt camera joints. When used as main controller of the simulated robot, this node also computes the odometry of the robot using the joint movements and a IMU and publish this odometry to /odom. The node has a flag in the yaml files that forces the publication or not of the odom->base_footprint frames, needed by the localization and mapping algorithms.

summit_xl_sim_bringup

launch files that launch the complete simulation of the robot

Simulating Summit XL

1) Install the following dependencies: - summit_xl_common link - robotnik_msgs link - robotnik_sensors link

2) Launch Summit XL simulation with:
- roslaunch summit_xl_sim_bringup summit_xl_complete.launch

3) Enjoy! You can use the topic "/summit_xl_control/cmd_vel" to control the Summit XL robot.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/summit_xl_sim.git
VCS Type git
VCS Version hydro
Last Updated 2014-12-04
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

summit_xl_sim

Packages for the simulation of the Summit XL, Summit XL HL and Summit-X (including X-WAM) robots

bh262_description

Contains the description of the Barrett Hand: urdf and meshes. This Hand is mounted on the WAM arm and is the end effector used by the X-WAM mobile manipulator.

summit_xl_2dnav

This package contains all the configuration files needed to execute the AMCL and SLAM navigation algorithms in simulation.

summit_xl_control

New gazebo 1.9 style robot control

summit_xl_description

robot description (urdf and meshes). Includes also V-REP model.

summit_xl_gazebo

launch files and world files to start the models in gazebo

summit_xl_joint_state

test node to publish joint states (as alternative to the joint_state_publisher)

summit_xl_joystick

node to process the joystick in simulation (configured for PS3, but others are also possible).

summit_xl_robot_control

control the robot joints in all kinematic configurations, publishes odom topic and, if configured, also tf odom to base_link. Usually takes as input joystick commands and generates as outputs references for the gazebo controllers defined in summit_xl_control.

summit_xl_waypoints

pass a set of goals from a file to the move_base stack.

wam_description

Barrett WAM (Whole Arm Manipulator) urdf and meshes.

xl_terabot_description

Robot description of the XL-Terabot robot.

x_wam_moveit

Draft moveit package to control the X-WAM.

CONTRIBUTING

No CONTRIBUTING.md found.