Robotnik Summit

ROS Software Maintainer: Roberto Guzman

Summit is a fast, high mobility indor/outdoor mobile robot platform manufactured by Robotnik. Summit has Ackerman (car-like) kinematics and a crawler chassis design specially suited for rough outdor terrain. The robot has several configurations including double Ackerman steering, several wheel sets, etc.

This stack provides all the necessary packages for simulating in Gazebo and Rviz.

Contents

Launching

• Joystick teleoperation
• Autonomous navigation

Simulation library overview

Summit libraries are implemented in the summit-ros-stack. For an outline of the stack please see the tables below.

Basic Configuration

• Component	ROS package/stack
  Robot model (urdf)	summit_description

  common msgs and services

  robotnik_msgs

Control

• Component	ROS package/stack
  Controller	summit_controller
  Odometry	summit_odometry

High Level Capabilities

• Component	ROS package/stack
  Teleop	summit_joystick_teleop
  Navigation	summit_2dnav
  Sbpl Nav	summit_sbpl_nav

Sensor Drivers

The Summit robot includes laser and imu for navigation. For Hokuyo and SICK laser drivers, see laser_drivers

Related Repositories

• summit-ros-stack