https://github.com/marcos-moura97/mcqueen_ros
Lightning Mcqueen Model for Gazebo Simulation in URDF
https://github.com/marcos-moura97/mcqueen_ros
gazebo lightning-mcqueen ros urdf
Last synced: about 2 months ago
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Lightning Mcqueen Model for Gazebo Simulation in URDF
- Host: GitHub
- URL: https://github.com/marcos-moura97/mcqueen_ros
- Owner: marcos-moura97
- Created: 2020-07-12T12:44:44.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2022-04-27T08:41:09.000Z (over 3 years ago)
- Last Synced: 2025-01-01T14:29:58.865Z (11 months ago)
- Topics: gazebo, lightning-mcqueen, ros, urdf
- Language: CMake
- Homepage:
- Size: 436 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Modelo do Relâmpago Marquinhos em URDF 
## Visão geral
O grande relâmpago marquinhos saiu das pistas da copa pistão diretamente para a sua simulação! Este modelo apresenta um simples conjunto de frames e o
básico para que o robô possa andar. Caso queira adicionar algum sensor ao modelo, basta fazer isso no arquivo **relampago_marquinhos.urdf**.
## Requisitos
- ROS Melodic
- Catkin
- Rviz
- Gazebo
## Construir
Você deve seguir no terminal:
- Criar o espaço de trabalho catkin:
``` sh
$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
$ catkin_make
```
- Clonar o repositório e a construí-lo:
``` sh
$ cd ~/catkin_ws/src
$ git clone https://github.com/marcos-moura97/mcqueen_ros.git
$ cd ..
$ catkin_make
```
## Visualizar no RVIZ
Para ver o modelo no RVIZ basta usar o comando
``` sh
$ roslaunch urdf_tutorial display.launch model:='$(find mcqueen)/urdf/relampago_marquinhos.urdf'
```
Será vista a imagem abaixo
## Lançar no Gazebo e mover com o teclado
O arquivo katiau.launch carrega o modelo no Gazebo, no RVIZ e também carrega o pacote **teleop_twist_keyboard** que dá a oportunidade de mover o modelo
usando algumas teclas.
Para isso, devemos:
- Executar o roscore
``` sh
$ cd ~/catkin_ws/
$ source devel/setup.bash
$ roscore
```
- Lançar do programa
``` sh
$ roslaunch katiau.launch
```
## Mensagem final
# Lightning Mcqueen model in URDF 
## Overview
The great Lightning McQueen, Relâmpago Marquinhos in portuguese, left the piston cup lanes directly for your simulation! This model features a simple
set of frames and the basic so that the robot can walk. If you want to add a sensor to the model, just do it in the file **relampago_marquinhos.urdf**.
## Requirements
- ROS Melodic
- Catkin
- Rviz
- Gazebo
## To build
You must follow in terminal:
- Create the catkin workspace:
```sh
$ mkdir catkin_ws
$ cd catkin_ws
$ mkdir src
$ catkin_make
```
- Cloning the repository and building:
```sh
$ cd ~/catkin_ws/src
$ git clone https://github.com/marcos-moura97/mcqueen_ros.git
$ cd ..
$ catkin_make
```
## View on RVIZ
To see the model in RVIZ just use the command
``` sh
$ roslaunch urdf_tutorial display.launch model:='$(find mcqueen)/urdf/relampago_marquinhos.urdf'
```
The image below will be seen
## Launch in Gazebo and move with the keyboard
The katiau.launch file loads the model in Gazebo, RVIZ and also loads the **teleop_twist_keyboard** package which gives the opportunity to move the model
using a few keys.
For that, we must:
- Running roscore
```sh
$ cd ~/catkin_ws/
$ source devel/setup.bash
$ roscore
```
- Launching the program
```sh
$ roslaunch katiau.launch
```
## Final Message