<> <> == Package Summary == This package contains the different controllers and launch files for the [[Robots/RB1 BASE|RB1 BASE robot]] simulation. * Autor: Robotnik Automation * License: BSD * Source: git https://github.com/RobotnikAutomation/rb1_base_sim.git {{attachment:rb1_base_gazebo.png|RB1 BASE Gazebo|width="600px"}} == List of packages == === rb1_base_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 RB1 BASE. === rb1_base_gazebo === This package contains the configuration files to launch the Gazebo environment along with the simulated robot. === rb1_base_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 rb1_base_control. === rb1_base_2dnav === This package configures the move base stack and makes use of the gmapping and amcl algorithms to move the rb1_base robot. === rb1_base_purepursuit === This package contains the implemented pure pursuit algorithm for RB1 base. == Simulating RB1 BASE == 1. Install the following dependencies: * [[ rb1_base_common | rb1_base_common]] * [[ robotnik_msgs| robotnik_msgs]] * [[ robotnik_sensors| robotnik_sensors]] 2. Launch RB1 BASE simulation with: * roslaunch rb1_base_sim rb1_sim.launch 3. Enjoy! You can use the topic "/rb1_base_control/cmd_vel" to control the RB1 BASE robot. ## AUTOGENERATED DON'T DELETE ## CategoryPackage