summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl summit_xl_gazebo summit_xl_robot_control summit_xl_sim summit_xl_sim_bringup

Repository Summary

Description	Packages for the simulation of the Summit XL, Summit XL HL and Summit-X (including X-WAM) robots
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	docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl
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.

summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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

summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl summit_xl_gazebo summit_xl_sim summit_xl_sim_bringup

Repository Summary

Description	Packages for the simulation of the Summit XL, Summit XL HL and Summit-X (including X-WAM) robots
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	docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl
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.

summit_xl_sim repository

docker ros robots gazebo kinetic ros-kinetic melodic gazebo-simulator ros-melodic gazebo-ros summit-xl

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