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https://github.com/ERC-BPGC/omnibase

This repository has a simulator of an omniwheel drive robot.
https://github.com/ERC-BPGC/omnibase

omnibase omniwheel robot ros simulator

Last synced: 26 days ago
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This repository has a simulator of an omniwheel drive robot.

Host: GitHub
URL: https://github.com/ERC-BPGC/omnibase
Owner: ERC-BPGC
License: bsd-3-clause
Created: 2020-04-06T08:11:07.000Z (over 4 years ago)
Default Branch: master
Last Pushed: 2021-01-20T10:47:35.000Z (almost 4 years ago)
Last Synced: 2024-11-13T15:12:12.395Z (29 days ago)
Topics: omnibase, omniwheel, robot, ros, simulator
Language: C++
Homepage: https://erc-bpgc.github.io/omnibase/
Size: 18.6 MB
Stars: 24
Watchers: 3
Forks: 8
Open Issues: 1
Metadata Files:
- Readme: README.md
- License: LICENSE
- Code of conduct: CODE_OF_CONDUCT.md

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# omnibase

| - | Tag |
|---------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------|
| License | [![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause) |
| Travis Build Status | [![Build Status](https://travis-ci.org/ERC-BPGC/omnibase.svg?branch=master)](https://travis-ci.org/ERC-BPGC/omnibase) |
| Jenkins Build Status (ROS Build Farm) | [![Build Status](http://build.ros.org/job/Mdev__omnibase__ubuntu_bionic_amd64/badge/icon)](http://build.ros.org/job/Mdev__omnibase__ubuntu_bionic_amd64/) |

## About:

Omnibase is a simulator of a 4 wheel drive robot. The robot is an omniwheeled robot and can move in any direction in the X-Y plane and rotate about its axis.

For more detailed documentation click [here](https://erc-bpgc.github.io/omnibase/).

## Installations:
- Install ROS melodic from [ROS website](https://www.ros.org/install/).

- Install some system dependencies by:
```bash
sudo apt install python-wstool python-catkin-tools \
ros-melodic-joint-state-controller \
ros-melodic-effort-controllers \
ros-melodic-joint-trajectory-controller \
ros-melodic-position-controllers \
ros-melodic-velocity-controllers
```
- Package installation from debian:
```bash
sudo apt update
sudo apt install ros-melodic-omnibase-control
sudo apt install ros-melodic-omnibase-gazebo
sudo apt install ros-melodic-omnibase-description
```

-------------------------------------------------------------

- Package installation from source:
```bash
# Clone repo
cd ~/catkin_ws/src
git clone https://github.com/ERC-BPGC/omnibase.git

# Build the workspace
cd ..
catkin build
source devel/setup.bash
```

### Usage:

To use this simulator use:
```bash
# To launch empty world
roslaunch omnibase_gazebo omnibase.launch

# To launch obstacle rich env
roslaunch omnibase_gazebo omnibase_world1.launch

# To test the bot run the teleop_node
rosrun omnibase_control teleop_node
```