This robot can climbs little rocks and little bumps. it is heavy with 9kg and with the big size 42cm with, 40cm deep and 30cm height, have a ground clearance of 7cm. The tracks have a particular damping system, with three different dampers to absorbe all vibration when the robot drift on the grass.
For more information about hardware and software, please see http://www.rnext.it/panther.
By checking out from repositories, you can always stay up to date with the latest version. Use the following commands to check out the Panther stacks:
Install last ROS LTS release: http://www.ros.org/wiki/ROS/Installation, please select Ubuntu platform.
- Install ROS distribution
sudo apt-get install ros-$ROS_DISTRO-ros sudo apt-get install ros-$ROS_DISTRO-navigation
Create a catkin workspace (see Catkin Tutorial)
- Clone in catkin workspace the following repositories
cd ~/catkin_ws https://github.com/rbonghi/panther.git https://github.com/rbonghi/roboteq_control.git https://github.com/stereolabs/zed-ros-wrapper.git
- Install all required repositories:
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
- Compile all code
Bringup the real robot
Take the Panther robot and power on the robot:
sudo ./jetson_clock.sh roslaunch panther_bringup bringup.launch
In the shell you can read the roboteq node launch and all other nodes, after the robot is ready to receive velocity commands. Proceed with starting nodes that supply velocity commands like teleoperation nodes.
Panther can be teleoperated using a joystick or with a rqt interface.
- Joystick control
roslaunch panther_control teleop.launch
- Rqt visualization interface
and select in plug-in rqt_robot_steering
To run the Panther visualization you just type
roslaunch panther_rviz_launchers view_robot.launch
on the base station (this command will not run on the robot itself as the robot does not provide any graphical capabilities).
To run the Panther gazebo simulation is required to launch only:
roslaunch panther_gazebo empty_world.launch
For convenience we will additionally install a set of RViz launchers, which will bring up RViz already configured for our use case.