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


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


Launch files and world files to start the models in gazebo


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.


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)