Repository Summary

Checkout URI	https://github.com/RobotnikAutomation/summit_xl_sim.git
VCS Type	git
VCS Version	humble
Last Updated	2023-03-13
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
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

This packages contains:

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

This simulation has been tested using Gazebo 9 version.

Installation and run instruccions

1. Install the following dependencies:

To facilitate the installation you can use the vcstool:

sudo apt-get install -y python3-vcstool

2. Create a workspace and clone the repository:

mkdir catkin_ws
cd catkin_ws

Install the latest version of the simulation:

vcs import --input https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_sim/melodic-devel/repos/summit_xl_sim_devel.repos

Install the ROS dependencies

rosdep install --from-paths src --ignore-src --skip-keys="summit_xl_robot_control marker_mapping robotnik_locator robotnik_pose_filter robotnik_gazebo_elevator" -y -r

3. Compile:

catkin build
source devel/setup.bash

ONLY: if catkin build doesn't work: The package catkin-tools is need to compile with catkin build:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install python-catkin-tools

4. Launch Summit XL simulation (1 robot by default, up to 3 robots):

Summit XL:

roslaunch summit_xl_sim_bringup summit_xl_complete.launch

Summit XL with Trossen Arm

roslaunch summit_xl_sim_bringup summit_xl_complete.launch default_xacro:=summit_xl_tix_std.urdf.xacro launch_arm_a:=true arm_manufacturer_a:=trossen arm_model_a:=vx300s

Launch moveit to plan trajectories:

ROS_NAMESPACE=robot roslaunch summit_xl_vx300s_moveit_config demo.launch

Summit XL with Kinova Arm

roslaunch summit_xl_sim_bringup summit_xl_complete.launch default_xacro:=summit_xl_gen_std.urdf.xacro launch_arm_a:=true arm_manufacturer_a:=kinova arm_model_a:=j2s7s300 amcl_and_mapserver_a:=false move_base_robot_a:=false

Note: in this configuration the robot has not laser, therefore the amcl is turned off. When Rviz is opened, change robot_map to robot_odom in fixed_frame in order to visualize the robot.

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

Docker usage

Installation of required files

Intel GPU

Nvidia GPU

Usage

git clone https://github.com/RobotnikAutomation/summit_xl_sim.git
cd summit_xl_sim
git checkout melodic-devel
export ROS_BU_PKG="summit_xl_sim_bringup"
export ROS_BU_LAUNCH="summit_xl_complete.launch"
nvidia-smi &>/dev/null \
&& ln -sf docker-compose-nvidia.yml docker-compose.yml \
|| ln -sf docker-compose-intel.yml docker-compose.yml
docker compose up

Selecting the robot model

You can select the robot, the launch file of package using the optional arguments on launch By default the selected robot is summit_xl

Summit XL GEN

export ROS_BU_PKG="summit_xl_sim_bringup"
export ROS_BU_LAUNCH="summit_xl_gen_complete.launch"
docker compose up

Summit XLS

export ROS_BU_PKG="summit_xl_sim_bringup"
export ROS_BU_LAUNCH="summit_xls_complete.launch"
docker compose up

Manual Build

If you wish to build the image without launching the simulation use the following commands:

cd docker
docker compose build

Notes

This is docker requires a graphical interface

In order to exit you have to 2 options
The ROS_MASTER_URI is accessible outside the container, so in the host any ros command should work
You could also run a roscore previous to launch the simulation in order to have some processes on the host running
if you want to enter on the container use the following command in another terminal
Close gazebo and rviz and wait a bit

execute in another terminal:

   docker container rm --force summit_xl_sim_instance

Notes

This is docker requires a graphical interface
The ROS_MASTER_URI is accessible outside the container, so in the host any ros command should work
You could also run a roscore previous to launch the simulation in order to have some processes on the host running
if you want to enter on the container use the following command in another terminal

  docker container exec -it docker-base-1 bash

In order to exit you have to 2 options
Close gazebo and rviz and wait a bit

execute in another terminal in the same folder than the docker-compose.yml:

   docker compose down

CONTRIBUTING

No CONTRIBUTING.md found.

No version for distro iron. Known supported distros are highlighted in the buttons above.

No version for distro rolling. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI	https://github.com/RobotnikAutomation/summit_xl_sim.git
VCS Type	git
VCS Version	noetic-devel
Last Updated	2023-11-21
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
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

This packages contains:

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

This simulation has been tested using Gazebo 9 version.

Installation and run instruccions

1. Install the following dependencies:

To facilitate the installation you can use the vcstool:

sudo apt-get install -y python3-vcstool

2. Create a workspace and clone the repository:

mkdir catkin_ws
cd catkin_ws

Install the latest version of the simulation:

vcs import --input https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_sim/noetic-devel/repos/summit_xl_sim_devel.repos

Install the ROS dependencies

rosdep install --from-paths src --ignore-src --skip-keys="summit_xl_robot_control marker_mapping robotnik_locator robotnik_pose_filter robotnik_gazebo_elevator" -y -r

3. Compile:

catkin build
source devel/setup.bash

ONLY: if catkin build doesn't work: The package catkin-tools is need to compile with catkin build:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install python-catkin-tools

4. Launch Summit XL simulation (1 robot by default, up to 3 robots):

Summit XL:

roslaunch summit_xl_sim_bringup summit_xl_complete.launch

Summit XL with Trossen Arm

roslaunch summit_xl_sim_bringup summit_xl_complete.launch default_xacro:=summit_xl_tix_std.urdf.xacro launch_arm_a:=true arm_manufacturer_a:=trossen arm_model_a:=vx300s

Launch moveit to plan trajectories:

ROS_NAMESPACE=robot roslaunch summit_xl_vx300s_moveit_config demo.launch

Summit XL with Kinova Arm

roslaunch summit_xl_sim_bringup summit_xl_complete.launch default_xacro:=summit_xl_gen_std.urdf.xacro launch_arm_a:=true arm_manufacturer_a:=kinova arm_model_a:=j2s7s300 amcl_and_mapserver_a:=false move_base_robot_a:=false

Note: in this configuration the robot has not laser, therefore the amcl is turned off. When Rviz is opened, change robot_map to robot_odom in fixed_frame in order to visualize the robot.

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

Docker usage

Installation of required files

Intel GPU

Nvidia GPU

Usage

git clone https://github.com/RobotnikAutomation/summit_xl_sim.git
cd summit_xl_sim
git checkout noetic-devel
export ROS_BU_PKG="summit_xl_sim_bringup"
export ROS_BU_LAUNCH="summit_xl_complete.launch"
nvidia-smi &>/dev/null \
&& ln -sf docker-compose-nvidia.yml docker-compose.yml \
|| ln -sf docker-compose-intel.yml docker-compose.yml
docker compose up

Selecting the robot model

You can select the robot, the launch file of package using the optional arguments on launch By default the selected robot is summit_xl

Summit XL GEN

export ROS_BU_PKG="summit_xl_sim_bringup"
export ROS_BU_LAUNCH="summit_xl_gen_complete.launch"
docker compose up

Summit XLS

export ROS_BU_PKG="summit_xl_sim_bringup"
export ROS_BU_LAUNCH="summit_xls_complete.launch"
docker compose up

Manual Build

If you wish to build the image without launching the simulation use the following commands:

cd docker
docker compose build

Notes

This is docker requires a graphical interface

In order to exit you have to 2 options
The ROS_MASTER_URI is accessible outside the container, so in the host any ros command should work
You could also run a roscore previous to launch the simulation in order to have some processes on the host running
if you want to enter on the container use the following command in another terminal
Close gazebo and rviz and wait a bit

execute in another terminal:

   docker container rm --force summit_xl_sim_instance

Notes

This is docker requires a graphical interface
The ROS_MASTER_URI is accessible outside the container, so in the host any ros command should work
You could also run a roscore previous to launch the simulation in order to have some processes on the host running
if you want to enter on the container use the following command in another terminal

  docker container exec -it docker-base-1 bash

In order to exit you have to 2 options
Close gazebo and rviz and wait a bit

execute in another terminal in the same folder than the docker-compose.yml:

   docker compose down

CONTRIBUTING

No CONTRIBUTING.md found.

No version for distro ardent. Known supported distros are highlighted in the buttons above.

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

No version for distro crystal. Known supported distros are highlighted in the buttons above.

No version for distro eloquent. Known supported distros are highlighted in the buttons above.

No version for distro dashing. Known supported distros are highlighted in the buttons above.

No version for distro galactic. Known supported distros are highlighted in the buttons above.

No version for distro foxy. Known supported distros are highlighted in the buttons above.

No version for distro lunar. Known supported distros are highlighted in the buttons above.

No version for distro jade. Known supported distros are highlighted in the buttons above.

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

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
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

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.

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	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:
- 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

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"

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI	https://github.com/RobotnikAutomation/summit_xl_sim.git
VCS Type	git
VCS Version	melodic-bringup
Last Updated	2021-08-06
Dev Status	MAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
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

This packages contains:

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

This simulation has been tested using Gazebo 9 version.

Installation and run instruccions

1. Install the following dependencies:

To facilitate the installation you can use the vcstool:

sudo apt-get install -y python3-vcstool

2. Create a workspace and clone the repository:

mkdir catkin_ws
cd catkin_ws

For the latest version:

vcs import --input \
  https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_sim/melodic-devel/doc/summit_xl_sim.repos
rosdep install --from-paths src --ignore-src --skip-keys="summit_xl_robot_control" -y

For the stable version (some latest features may be not available):

vcs import --input \
  https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_sim/melodic-master/doc/summit_xl_sim.repos
rosdep install --from-paths src --ignore-src --skip-keys="summit_xl_robot_control" -y

3. Compile:

catkin build
source devel/setup.bash

ONLY: if catkin build doesn't work: The package catkin-tools is need to compile with catkin build:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install python-catkin-tools

4. Launch Summit XL simulation (1 robot by default, up to 3 robots):

Summit XL:

roslaunch summit_xl_sim_bringup summit_xl_complete.launch

Summit XL with Trossen Arm

roslaunch summit_xl_sim_bringup summit_xl_complete.launch default_xacro:=summit_xl_tix_std.urdf.xacro launch_arm_a:=true arm_manufacturer_a:=trossen arm_model_a:=vx300s

Launch moveit to plan trajectories:

ROS_NAMESPACE=robot roslaunch summit_xl_vx300s_moveit_config demo.launch

Summit XL with Kinova Arm

roslaunch summit_xl_sim_bringup summit_xl_complete.launch default_xacro:=summit_xl_gen_std.urdf.xacro launch_arm_a:=true arm_manufacturer_a:=kinova arm_model_a:=j2s7s300

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

Docker usage

In order to run this simulation you will need nvidia graphical accelation

Installation of required files

docker
nvidia-docker
nvidia-drivers

Usage

git clone https://github.com/RobotnikAutomation/summit_xl_sim.git
cd summit_xl_sim
git checkout melodic-devel
docker/simulation-in-container-run.sh

Selecting the robot model

You can select the robot, the launch file of package using the optional arguments on launch By default the selected robot is summit_xl

docker/simulation-in-container-run.sh --help

ROBOTNIK AUTOMATION S.L.L. 2021

Simulation of SUMMIT XL using docker

Usage:
docker/simulation-in-container-run.sh [OPTIONS]

Optional arguments:
 --robot -r ROBOT       Select robot to simulate
                        Valid robots:
                            summit_xl summit_xl_gen summit_xls
                        default: summit_xl

 --launch -l            Select launch file
                        default: summit_xl_complete.launch

 --package -p           Select ros package
                        default: summit_xl_sim_bringup

 --ros-port -u PORT     Host ros port
                        default: 11345

 --gazebo-port -g PORT  Host ros port
                        default: 11345

 -h, --help             Shows this help

Summit XL GEN

docker/simulation-in-container-run.sh --robot summit_xl_gen

Summit XLS

docker/simulation-in-container-run.sh --robot summit_xls

Manual Build

If you wish to build manually the image without the use of the script use one the following commands:

Optiona A

cd docker
docker build -f Dockerfile ..

Option B

docker build -f docker/Dockerfile .

Notes

This is docker requires a graphical interface
The ros master uri is accesible outside the container, so in the host any ros command should work
You could also run a roscore previous to launch the simulation in order to have some processes on the host running
if you want to enter on the container use the following command in another terminal

docker container exec -it summit_xl_sim_instance bash

In order to exit you have to 2 options
Close gazebo and rviz and wait a bit
execute in another terminal:

docker container rm --force summit_xl_sim_instance

CONTRIBUTING

No CONTRIBUTING.md found.

summit_xl_sim repository

Repository Summary

Packages

README

summit_xl_sim

summit_xl_gazebo

summit_xl_sim_bringup

Simulating Summit XL

Installation and run instruccions

1. Install the following dependencies:

2. Create a workspace and clone the repository:

3. Compile:

4. Launch Summit XL simulation (1 robot by default, up to 3 robots):

Summit XL:

Summit XL with Trossen Arm

Summit XL with Kinova Arm

or Summit XL Steel:

Optional general arguments:

Optional robot arguments:

Docker usage

Installation of required files

Intel GPU

Nvidia GPU

Usage

Selecting the robot model

Manual Build

Notes

Notes

CONTRIBUTING

Repository Summary

Packages

README

summit_xl_sim

summit_xl_gazebo

summit_xl_sim_bringup

Simulating Summit XL

Installation and run instruccions

1. Install the following dependencies:

2. Create a workspace and clone the repository:

3. Compile:

4. Launch Summit XL simulation (1 robot by default, up to 3 robots):

Summit XL:

Summit XL with Trossen Arm

Summit XL with Kinova Arm

or Summit XL Steel:

Optional general arguments:

Optional robot arguments:

Docker usage

Installation of required files

Intel GPU

Nvidia GPU

Usage

Selecting the robot model

Manual Build

Notes

Notes

CONTRIBUTING

Repository Summary

Packages

README

summit_xl_sim

summit_xl_control

summit_xl_gazebo

summit_xl_robot_control

summit_xl_sim_bringup

Simulating Summit XL

CONTRIBUTING

Repository Summary

Packages

README

summit_xl_sim

bh262_description

summit_xl_2dnav

summit_xl_control

summit_xl_description

summit_xl_gazebo

summit_xl_joint_state

summit_xl_joystick

summit_xl_robot_control

summit_xl_waypoints