Only released in EOL distros:
Package Summary
The summit_xl_sim metapackage
- Maintainer status: maintained
- Maintainer: Carlos Villar <cvillar AT robotnik DOT es>, Roberto Guzmán <rguzman AT robotnik DOT es>, Román Navarro <rnavarro AT robotnik DOT es>
- Author: Roberto Guzmán <rguzman AT robotnik DOT es>, Román Navarro <rnavarro AT robotnik DOT es>, Jorge Ariño <jarino AT robotnik DOT es>
- License: BSD
- Bug / feature tracker: https://github.com/RobotnikAutomation/summit_xl_sim/issues
- Source: git https://github.com/RobotnikAutomation/summit_xl_sim.git (branch: indigo-devel)
Package Summary
The summit_xl_sim metapackage
- Maintainer status: maintained
- Maintainer: Angel Soriano <asoriano AT robotnik DOT es>, Álvaro Villena <avillena AT robotnik DOT es>, David Redó <dredo AT robotnik DOT es>, Alejandro Arnal <aarnal AT robotnik DOT es>, Marc Bosch <mbosch AT robotnik DOT es>, Román Navarro <rnavarro AT robotnik DOT es>
- Author: Roberto Guzmán <rguzman AT robotnik DOT es>
- License: BSD
- Bug / feature tracker: https://github.com/RobotnikAutomation/summit_xl_sim/issues
- Source: git https://github.com/RobotnikAutomation/summit_xl_sim.git (branch: kinetic-devel)
Contents
Package Summary
This package contains the different controllers and launch files for the SummitXL robot simulation.
- Autor: Robotnik Automation
- License: BSD
Source: git https://github.com/RobotnikAutomation/summit_xl_sim.git
List of packages
summit_xl_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 Summit XL (4 axes skid steering + 2 axes ptz), Summit XL OMNI (4 axes skid steering, 4 axes swerve drive), Summit X-WAM (4 axes skid steering, 4 axes swerve drive, 1 linear axis for scissor mechanism). The Summit XL simulation stack follows the gazebo_ros controller manager scheme described in http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo
summit_xl_gazebo
Launch files and world files to start the models in gazebo
summit_xl_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.
summit_xl_sim_bringup
Launch files that launch the complete simulation of the robot
Simulating Summit XL
1. Install the following dependencies:
2. Launch Summit XL simulation with:
- roslaunch summit_xl_sim_bringup summit_xl_complete.launch
3. Enjoy! You can use the topic "/summit_xl_control/cmd_vel" to control the Summit XL robot.