Package Summary

This package contains the different controllers and launch files for the RB1 BASE robot simulation.

• Autor: Robotnik Automation
• License: BSD

• Source: git https://github.com/RobotnikAutomation/rb1_base_sim.git

List of packages

rb1_base_control

This package contains the launch and configuration files to spawn the joint controllers with the ROS controller_manager. It allows to launch the joint controllers for the RB1 BASE.

rb1_base_gazebo

This package contains the configuration files to launch the Gazebo environment along with the simulated robot.

rb1_base_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 rb1_base_control.

rb1_base_2dnav

This package configures the move base stack and makes use of the gmapping and amcl algorithms to move the rb1_base robot.

rb1_base_purepursuit

This package contains the implemented pure pursuit algorithm for RB1 base.

Simulating RB1 BASE

1. Install the following dependencies:

• rb1_base_common

• robotnik_msgs

• robotnik_sensors

2. Launch RB1 BASE simulation with:

• roslaunch rb1_base_sim rb1_sim.launch

3. Enjoy! You can use the topic "/rb1_base_control/cmd_vel" to control the RB1 BASE robot.