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 |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| summit_xl_gazebo | 1.1.1 |
| 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.
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/RobotnikAutomation/summit_xl_sim.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2021-04-15 |
| Dev Status | MAINTAINED |
| 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 |
|---|---|
| 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="$(find summit_xl_gazebo)/worlds/summit_xl_office.world"/>
<arg name="omni_drive" default="false"/> (only for Summit XL)
<arg name="use_gpu_for_simulation" default="false"/>
By default the Gazebo plugin Planar Move to ignore the physics of the wheels + the skid steering kinematics. In case you want to disable this plugin, set the following arguments:
roslaunch summit_xl_sim_bringup summit_xl_complete.launch ros_planar_move_plugin:=false omni_drive:=false
Optional robot arguments:
<!--arguments for each robot (example for robot A)-->
<arg name="id_robot_a" default="robot"/>
<arg name="launch_robot_a" default="true"/>
<arg name="map_file_a" default="willow_garage/willow_garage.yaml"/>
<arg name="localization_robot_a" default="false"/>
<arg name="gmapping_robot_a" default="false"/>
<arg name="amcl_and_mapserver_a" default="true"/>
<arg name="x_init_pose_robot_a" default="0" />
<arg name="y_init_pose_robot_a" default="0" />
<arg name="z_init_pose_robot_a" default="0" />
<arg name="xacro_robot_a" default="summit_xl_std.urdf.xacro"/>
- Example to launch simulation with 3 Summit XL robots:
roslaunch summit_xl_sim_bringup summit_xl_complete.launch launch_robot_b:=true launch_robot_c:=true
- Example to launch simulation with 1 Summit XL robot with navigation:
roslaunch summit_xl_sim_bringup summit_xl_complete.launch move_base_robot_a:=true amcl_and_mapserver_a:=true
- Enjoy! You can use the topic "${id_robot}/robotnik_base_control/cmd_vel" to control the Summit XL robot or send simple goals using "/${id_robot}/move_base_simple/goal"