Repository Summary
| Checkout URI | https://github.com/RobotnikAutomation/summit_xl_sim.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2019-09-11 |
| 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
-
Install the following dependencies:
In the workspace install the packages dependencies:
rosdep install --from-paths src --ignore-src -r -y
- Launch Summit XL simulation (1 robot by default, up to 3 robots):
- 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="$(find summit_xl_gazebo)/worlds/summit_xl_office.world"/>
<arg name="omni_drive" default="false"/> (only for Summit XL)
Optional robot arguments:
<!--arguments for each robot (example for robot A)-->
<arg name="id_robot_a" default="summit_xl_a"/>
<arg name="launch_robot_a" default="true"/>
<arg name="map_file_a" default="willow_garage/willow_garage.yaml"/>
<arg name="localization_robot_a" default="true"/>
<arg name="gmapping_robot_a" default="false"/>
<arg name="move_base_robot_a" default="false"/>
<arg name="amcl_and_mapserver_a" default="false"/>
<arg name="x_init_pose_robot_a" default="0" />
<arg name="y_init_pose_robot_a" default="0" />
<arg name="z_init_pose_robot_a" default="0" />
<arg name="xacro_robot_a" default="summit_xl_std.urdf.xacro"/>
- Example to launch simulation with 3 Summit XL robots:
roslaunch summit_xl_sim_bringup summit_xl_complete.launch launch_robot_b:=true launch_robot_c:=true
- Example to launch simulation with 1 Summit XL robot with navigation:
roslaunch summit_xl_sim_bringup summit_xl_complete.launch move_base_robot_a:=true amcl_and_mapserver_a:=true localization_robot_a:=true
- Enjoy! You can use the topic "${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
| Name | Version |
|---|---|
| summit_xl_gazebo | 1.1.1 |
| summit_xl_robot_control | 1.1.1 |
| summit_xl_sim | 1.1.1 |
| summit_xl_sim_bringup | 1.1.1 |
README
summit_xl_sim
Packages for the simulation of the 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 gazebosummit_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 |
Packages
| Name | Version |
|---|---|
| bh262_description | 0.0.0 |
| summit_xl_2dnav | 1.0.0 |
| summit_xl_control | 0.0.0 |
| summit_xl_description | 1.0.0 |
| summit_xl_gazebo | 0.1.0 |
| summit_xl_joint_state | 0.0.0 |
| summit_xl_joystick | 0.0.0 |
| summit_xl_robot_control | 0.0.0 |
| wam_description | 0.0.0 |
| x_wam_moveit | 0.2.0 |
| xl_terabot_description | UNKNOWN |
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.