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Repository Summary
Checkout URI | https://github.com/freshrobotics/swerve-sim-container.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-02-24 |
Dev Status | UNMAINTAINED |
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 |
---|---|
swerve_controller | 0.1.0 |
swerve_robot_description | 0.1.0 |
swerve_robot_gazebo | 0.1.0 |
README
Swerve Sim Container
Dockerized gazebo simulation of a swerve drive robot in the AWS Robomaker Small Warehouse World.
What is a swerve-drive?
Swerve-drive is drive-train with independently steerable and driven wheels. This allows the robot to be omnidirectional. A swerve drive robot can spin on the spot, strafe sideways and perform more complex motions which are not possible with diff-drive or ackermann steering. Swerve-drive robots can have 3 or more wheels. This simulation exhibits a robot with four wheel independent steering.
For more details and derivation of swerve-drive kinematics and odometry, check out the blog post.
Watch the simulated swerve-drive robot in action on Youtube.
Dependencies
- Docker
- make (
$ sudo apt-get build-essential
on ubuntu) - x11 (to run gazebo application windows)
- (Optional) - Nvidia Container Toolkit
Instructions to run
- Clone the repo
$ git clone https://github.com/freshrobotics/swerve-sim-container.git
$ cd swerve-sim-container
- Pull or Build sim image
# Pull image from github container repository
$ make pull
# Locally build image
$ make build
- Launch sim
# Without Nvidia GPU
$ make launch
# With Nvidia GPU
$ make launch-gpu
- (Optional) Launch teleop nodes
# Keyboard Teleop
$ make teleop-keyboard
# Joystick Teleop
$ make teleop-joy
Additional Utilities
-
make run
ormake run-gpu
- Run container with shell. -
make shell
- Attach shell to the running container. -
make stop
- Stop running container.
License
This repo is Apache-2.0 licensed.
CONTRIBUTING
No CONTRIBUTING.md found.
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