summit_xl_sim: summit_xl_control | summit_xl_gazebo | summit_xl_robot_control | summit_xl_sim_bringup

Package Summary

The summit_xl_sim metapackage

summit_xl_sim: summit_xl_gazebo | summit_xl_sim_bringup

Package Summary

The summit_xl_sim metapackage

Package Summary

This package contains the different controllers and launch files for the SummitXL robot simulation.

SummitXL Gazebo

List of packages

summit_xl_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 Summit XL (4 axes skid steering + 2 axes ptz), Summit XL OMNI (4 axes skid steering, 4 axes swerve drive), Summit X-WAM (4 axes skid steering, 4 axes swerve drive, 1 linear axis for scissor mechanism). The Summit XL simulation stack follows the gazebo_ros controller manager scheme described in http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo

summit_xl_gazebo

Launch files and world files to start the models in gazebo

summit_xl_robot_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 summit_xl_control. This package permits an alternative way to control the robot motion (4 motorwheels) that by default is carried on by the Gazebo plugin (skid-steer). In the default configuration this package only controls the pan-tilt camera joints. When used as main controller of the simulated robot, this node also computes the odometry of the robot using the joint movements and a IMU and publish this odometry to /odom. The node has a flag in the yaml files that forces the publication or not of the odom->base_footprint frames, needed by the localization and mapping algorithms.

summit_xl_sim_bringup

Launch files that launch the complete simulation of the robot

Simulating Summit XL

1. Install the following dependencies:

2. Launch Summit XL simulation with:

  • roslaunch summit_xl_sim_bringup summit_xl_complete.launch

3. Enjoy! You can use the topic "/summit_xl_control/cmd_vel" to control the Summit XL robot.

Wiki: summit_xl_sim (last edited 2016-07-06 09:46:12 by carlosvillar)