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rb1_base_sim: rb1_base_control | rb1_base_gazebo | rb1_base_sim_bringup

Package Summary

The rb1_base_sim metapackage

rb1_base_sim: rb1_base_gazebo | rb1_base_sim_bringup

Package Summary

The rb1_base_sim metapackage

  • Maintainer status: maintained
  • Maintainer: Roberto Guzmán <rguzman AT robotnik DOT es>, 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/rb1_base_sim/issues
  • Source: git https://github.com/RobotnikAutomation/rb1_base_sim.git (branch: kinetic-devel)

Package Summary

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

RB1 BASE Gazebo

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:

2. Launch RB1 BASE simulation with:

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


2019-09-14 13:05