{"id":23758699,"url":"https://github.com/akerdogmus/hamer","last_synced_at":"2025-09-05T04:34:18.776Z","repository":{"id":54153689,"uuid":"277080685","full_name":"Akerdogmus/hamer","owner":"Akerdogmus","description":"This repository includes the Halikarnas Modular Educational Robot (HAMER) ROS Melodic packages.","archived":false,"fork":false,"pushed_at":"2021-12-07T06:28:40.000Z","size":4361,"stargazers_count":7,"open_issues_count":0,"forks_count":2,"subscribers_count":2,"default_branch":"noetic-devel","last_synced_at":"2025-04-05T23:06:13.464Z","etag":null,"topics":["cmake","gazebo","hamer-robot","python","python3","robot","robotics","robotics-programming","ros","ros-melodic","ros-noetic"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Akerdogmus.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.md","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2020-07-04T09:39:05.000Z","updated_at":"2024-11-07T18:26:14.000Z","dependencies_parsed_at":"2022-08-13T07:50:12.362Z","dependency_job_id":null,"html_url":"https://github.com/Akerdogmus/hamer","commit_stats":null,"previous_names":[],"tags_count":4,"template":false,"template_full_name":null,"purl":"pkg:github/Akerdogmus/hamer","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Akerdogmus%2Fhamer","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Akerdogmus%2Fhamer/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Akerdogmus%2Fhamer/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Akerdogmus%2Fhamer/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Akerdogmus","download_url":"https://codeload.github.com/Akerdogmus/hamer/tar.gz/refs/heads/noetic-devel","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Akerdogmus%2Fhamer/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":273713409,"owners_count":25154609,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-05T02:00:09.113Z","response_time":402,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cmake","gazebo","hamer-robot","python","python3","robot","robotics","robotics-programming","ros","ros-melodic","ros-noetic"],"created_at":"2024-12-31T19:55:25.564Z","updated_at":"2025-09-05T04:34:13.762Z","avatar_url":"https://github.com/Akerdogmus.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Halikarnas Modular Education Robot (HAMER) \n\n![current_version](https://img.shields.io/github/v/release/Akerdogmus/hamer?color=green) ![last_commit](https://img.shields.io/github/last-commit/Akerdogmus/hamer) ![ros_dist](https://img.shields.io/badge/ros--dist-noetic/melodic-blue)  ![](https://img.shields.io/github/repo-size/Akerdogmus/hamer) ![Apache-2.0 License](https://img.shields.io/github/license/inomuh/Camera-Fault-Injection-Tool?color=blue) ![](https://img.shields.io/github/contributors/Akerdogmus/hamer) ![lang](https://img.shields.io/github/languages/top/Akerdogmus/hamer) [![CodeFactor](https://www.codefactor.io/repository/github/akerdogmus/hamer/badge)](https://www.codefactor.io/repository/github/akerdogmus/hamer)\n\nHAMER is a robotic project that is being developed for robotic education. This repository contains ROS Melodic (branch: melodic-devel) and ROS Noetic (branch: noetic-devel) compatible robot packages of HAMER robot.\nThis metapackage includes the following subpackages.\n\n![Image of HAMER](https://github.com/Akerdogmus/hamer/blob/noetic-devel/hamer.png?raw=true)\n\n- hamer_bringup: It is a subpackage containing hardware control of HAMER robot.\n- hamer_description: It is the subpackage containing urdf files of the HAMER robot.\n- hamer_navigation: It is the subpackage containing the navigation package files of the HAMER robot.\n- hamer_simulation: It is a sub-package containing the package and launch files required for the simulation of the HAMER robot.\n- hamer_slam: It is a sub-package containing the package and launch files required for mapping of the HAMER robot.\n- hamer_teleop: It is a sub-package containing the codes required to control the HAMER robot from the keyboard in a simulated or hardware environment.\n\nFor HAMER_mini model : https://github.com/Akerdogmus/HAMER_mini\n\nHAMER Installation:\n-------------------\nROS Melodic version:\n\n```bash\ngit clone https://github.com/Akerdogmus/hamer -b melodic-devel\n```\n\nROS Noetic version:\n\n```bash\ngit clone https://github.com/Akerdogmus/hamer -b noetic-devel\n```\n------------------------------------------------------------------------------\nRequirements:\n--------------\n\n- In order for the sensors to work properly, \"gazebo_ros_pkgs\" files must be downloaded to your workspace.\n\n```bash\ngit clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b noetic-devel\n```\n\n- In order for the SLAM to work, \"slam_gmapping\" package must be downloaded to your workspace.\n\n```bash    \ngit clone https://github.com/ros-perception/slam_gmapping.git -b melodic-devel\n```\n\n- In order for the \"joint_state_publisher\" to work, \"joint_state_publisher_gui\" package must be downloaded to your computer.\n\n```bash\nsudo apt update \u0026\u0026 sudo apt install ros-melodic-joint-state-publisher-gui\n```\n\n- In order for the navigation package to work, \"follow_waypoint\" package must be downloaded to your workspace.\n(Waypoints package added and the default goal tolerance increased to 0.3 from 0.0 in phyton script to ease robot's movement.)\n\n```bash\ngit clone https://github.com/danielsnider/follow_waypoints\n```\n---------------------------------------------------------------------------------\nSome HAMER ROS Commands:\n---------------------\nRviz Launching:\n\n```bash\nroslaunch hamer_simulation hamer_rviz.launch\n```\n\nSolo-Rviz Launching (v1.3 Update):\n\n```bash\nroslaunch hamer_simulation hamer_rviz_standalone.launch\n```\n\nGazebo Launching:\n\n```bash\nroslaunch hamer_simulation hamer_gazebo.launch\n```\nor\n\n```bash\nroslaunch hamer_simulation hamer_gazebo_emptyworld.launch\n```\nor\n\n```bash    \nroslaunch hamer_simulation hamer_gazebo_maze.launch\n```\n\nSLAM Launching:\n\n```bash\nroslaunch hamer_slam hamer_slam.launch\n```\n\nTeleop Launching:\n\n```bash\nrosrun hamer_teleop hamer_teleop.py\n```\n\nNavigation Launching (Added v1.1):\n\n```bash\nroslaunch hamer_navigation hamer_navigation.launch\n```\n\n![Image of HAMER_2](https://github.com/Akerdogmus/hamer/blob/noetic-devel/hamer_2.png?raw=true)\n \nNOTE: Before running keyboard code, run on terminal this codes:\n\n```bash        \ncd ~/hamer_teleop/scripts \u0026\u0026 chmod +x hamer_teleop.py\n```\n---------------------------------------------------------------------------------\nChangelog:\n----------\nUpdate v1.0 - 02.08.20\n------------------------\n- First version\n\nUpdate v1.1 - 21.08.20\n------------------------\n- Added Gazebo Sonar Plugins (Now Sonar Sensors available)\n- Added hamer_navigation subpackage (Now navigation tools and 2d nav goal available)\n- Added new Gazebo maps and launch files\n\nUpdate v1.2 - 08.09.20\n----------------------\n\"hamer_navigation\" Package Changes:\n- base_local_planner parameters changed.\n- costmap_common_parameters new parameters added and existing upgraded.\n- Added new parameters for global_costmap and local costmap.\n- costmap_converter, teb_local_planner in param folder and cfg folder in navigation package removed.\n- navigation launch file: The param teb_local_planner is removed. Instead, TrajectoryPlannerRos used.\n- Rviz starting added to launch file.\n\nUpdate v1.3 - 07.03.21\n----------------------\n- HAMER is now ROS Noetic compatible.\n- \"hamer_rviz_standalone.launch\" file added (For using HAMER Rviz without Gazebo working)\n\n\"hamer_teleop\" Package Changes: \n- for teleop operation Launch file added so only launch file is enough to use keyboard.\n\nUpdate v1.3.1 - 16.03.21\n------------------------\n- Some bug and file fixes.\n---------------------------------------------------------------------------------\nRoadmap:\n--------\n* [x] Hamer Navigation subpackage\n* [x] New Gazebo Maps\n* [x] Hamer ROS Noetic version\n* [ ] Hamer ROS2 version\n* [ ] New Hamer robot model\n* [ ] All Hamer subpackage rework\n\nExtras:\n--------\n- If you want to control the robot with the help of an interface, not a terminal, you can install Robotic Controller Interface in your workspace.\n\n```bash\ngit clone https://github.com/Akerdogmus/Robotic_Controller_Interface \n```\n\n- HAMER Robots YouTube Channel: https://www.youtube.com/channel/UCJIAVXEoZ3Qzcn72Dd_9upg/featured?disable_polymer=1\n      \n----------------------------------------------------------------------------------\n\nMaintainer\n--------------\n- Alim Kerem Erdoğmuş - https://www.linkedin.com/in/alim-kerem-erdogmus/\n\nContributors\n------------\n- Enes YAZ - Navigation Subpackage Designer - https://www.linkedin.com/in/enes-yaz/\n- Harun ÇOŞKUN - HAMER Robot Model Designer - https://www.linkedin.com/in/harun-%C3%A7o%C5%9Fkun-91a579159/\n- Berkay YAŞAR -Test Maps Designer - https://www.linkedin.com/in/efecan-berkay-yasar/\n- Samet AYDOĞAN - http://www.linkedin.com/in/samet-aydogan\n- Muhammed KOCAOĞLU - Navigation Subpackage Designer - https://www.linkedin.com/in/muhammed-kocaoğlu-2b661b178/\n- Fatih VATANSEVER - https://www.linkedin.com/in/fatihvatansever/\n- Yağız UMUR - https://www.linkedin.com/in/yagizumur/\n- Berkay YARIŞ - https://www.linkedin.com/in/berkayyaris/\n\nSupervisor\n------------\n- Muhammed Oğuz TAŞ - https://www.linkedin.com/in/moguztas/\n\n## License\n\nSee the [LICENSE](LICENSE.md) file for license rights and limitations (Apache-2.0 License).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fakerdogmus%2Fhamer","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fakerdogmus%2Fhamer","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fakerdogmus%2Fhamer/lists"}