swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

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

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

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository

swerve-sim-container repository