swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2 swerve_controller swerve_robot_description swerve_robot_gazebo

Repository Summary

Description Dockerized simulation of a swerve-drive robot.
Checkout URI https://github.com/freshrobotics/swerve-sim-container.git
VCS Type git
VCS Version main
Last Updated 2023-02-24
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags simulation ros gazebo swerve-drive ros2
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

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

Instructions to run

  1. Clone the repo
    $ git clone https://github.com/freshrobotics/swerve-sim-container.git
    $ cd swerve-sim-container
    
  1. Pull or Build sim image
    # Pull image from github container repository
    $ make pull
    
    # Locally build image
    $ make build
    
  1. Launch sim
    # Without Nvidia GPU
    $ make launch
    
    # With Nvidia GPU
    $ make launch-gpu
    
  1. (Optional) Launch teleop nodes
    # Keyboard Teleop
    $ make teleop-keyboard

    # Joystick Teleop
    $ make teleop-joy
    

Additional Utilities

  1. make run or make run-gpu - Run container with shell.
  2. make shell - Attach shell to the running container.
  3. make stop - Stop running container.

License

This repo is Apache-2.0 licensed.

CONTRIBUTING

No CONTRIBUTING.md found.

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2

swerve-sim-container repository

simulation ros gazebo swerve-drive ros2