summit_xl_sim repository

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/summit_xl_sim.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2018-10-31
Dev Status MAINTAINED
Released RELEASED

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"/>


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

  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"

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
Released RELEASED

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.

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
Released UNRELEASED

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.