https://github.com/robotnikautomation/summit_x_sim
https://github.com/robotnikautomation/summit_x_sim
Last synced: over 1 year ago
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- Host: GitHub
- URL: https://github.com/robotnikautomation/summit_x_sim
- Owner: RobotnikAutomation
- License: bsd-2-clause
- Created: 2015-05-25T14:52:21.000Z (about 11 years ago)
- Default Branch: indigo-devel
- Last Pushed: 2016-12-12T08:26:25.000Z (over 9 years ago)
- Last Synced: 2025-01-21T03:11:31.713Z (over 1 year ago)
- Language: C++
- Size: 53.7 KB
- Stars: 1
- Watchers: 5
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
summit_x_sim
=============
Packages for the simulation of the Summit-X
summit_x_sim_bringup
launch files that launch the complete simulation of the robot
To start the simulation:
`roslaunch summit_x_sim_bringup summit_x_complete.launch`
summit_x_gazebo
launch files and world files to start the models in gazebo
summit_x_control
This package contains the launch and configuration files to spawn the joint controllers with the ROS controller_manager.
summit_x_robot_control
control the robot joints in all kinematic configurations, publishes odom topic and, if configured, also tf odom to base_link. Usually takes as input joystick commands and generates as outputs references for the gazebo controllers defined in summit_xl_control. This package permits an alternative way to control the robot motion (4 motorwheels) that by default is carried on by the Gazebo plugin (skid-steer). In the default configuration this package only controls the pan-tilt camera joints.
When used as main controller of the simulated robot, this node also computes the odometry of the robot using the joint movements and a IMU and publish this odometry to /odom. The node has a flag in the yaml files that forces the publication or not of the odom->base_footprint frames, needed by the localization and mapping algorithms.