{{http://www.robotnik.es/web/wp-content/uploads/2014/04/guardian_blur_playa.jpg||height="182",width="754"}}

= Robotnik Automation Guardian =
''ROS Software Maintainer: Román Navarro''

Guardian is a modular robot with high mobility built by Robotnik Automation. In this page you can find the different drivers that we have implemented and all the necessary for the '''Guardian''' robot simulation (including teleoperation and AMCL/SLAM navigation).

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== Package Summary ==
In this page you can find the different drivers that we have implemented and all the necessary for the Guardian robot simulation (including pad teleoperation and AMCL/SLAM navigation).

== Simulation Library Overview ==
Guardian libraries are implemented in the [[guardian-ros-pkg]] stack.  For an outline of these libraries, please see the tables below.

=== Basic Configuration ===
||'''Capability''' ||'''ROS package/stack''' ||
||Robot model (URDF) ||[[http://code.google.com/p/guardian-ros-pkg/wiki/guardian_description|guardian_description]] ||


=== Control ===
||'''Component''' ||'''ROS package/stack''' ||
||Controller ||[[http://code.google.com/p/guardian-ros-pkg/wiki/guardian_controller|guardian_controller]] ||
||Odometry ||[[http://code.google.com/p/guardian-ros-pkg/wiki/guardian_odometry|guardian_odometry]] ||


=== High-Level Capabilities ===
||'''Component''' ||'''ROS package/stack''' ||
||Teleop ||[[http://code.google.com/p/guardian-ros-pkg/wiki/guardian_pad-sim|guardian_pad_sim]] ||
||Navigation ||[[http://code.google.com/p/guardian-ros-pkg/wiki/guardian_pad_sim|guardian_2dnav]] ||


=== Sensor Drivers ===
The Guardian robot could be equiped with a laser for receive the information about its environment. For Hokuyo and SICK laser drivers, see [[laser_drivers]].

'''Note''': In the simulation, we suposed that this laser is a Hokuyo URG-04LX.

== Guardian Mobile Manipulators ==
To run this modifications you need to download and compile previously some additional packages.

=== G-WAM (Guardian + Barret WAM Arm) ===
 * [[http://code.google.com/p/guardian-ros-pkg/wiki/gwam|G-WAM repository]]

=== G-BALL (Guardian + Schunk Powerball Lightweight Arm) ===
 * [[http://code.google.com/p/guardian-ros-pkg/wiki/gball|G-BALL repository]]

== Related Repositories ==
 * [[guardian-ros-pkg]]