The HAMER_Mini robot package is designed as a sub-version of the "Halikarnas Modular Educational Robot" main model. ROS Melodic compatible.
For HAMER main model : https://github.com/Akerdogmus/hamer
Rviz Launching:
$ roslaunch hamer_mini hamermini_rviz.launch
Gazebo Launching:
$ roslaunch hamer_mini hamermini_gazebo.launch
- Ultrasonic sensors added.
Requirements:
-
In order for the sensors to work properly, "gazebo_ros_pkgs" files must be downloaded to your workspace.
$ git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b melodic-devel
- Added "gazebo_ros_control" to hamer_mini's urdf file.
- Changed ultrasonic sensors positions and quantities.
- Available SLAM package usage (hamermini_slam.launch).
- Added laser sensor.
- Available mapping with laser sensor to gazebo maps.
Requirements:
-
In order for the SLAM to work, "slam_gmapping" package must be downloaded to your workspace.
$ git clone https://github.com/ros-perception/slam_gmapping.git -b melodic-devel
SLAM Launching:
$ roslaunch hamer_mini hamermini_slam.launch
-
Added Hamer Mini's chasis and camera meshes (Camera meshes from Intel Realsense D435, https://github.com/IntelRealSense/librealsense)
-
Added camera module (Image acquisition from the camera has been made possible.)
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Changed lidar's properties (Lidar is now in tfmini properties.)
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Added hamer_mini_control package (This package provides communication with Hamer Mini's Arduino controller. Only using with Hamer_Mini Robot, not for simulations).
$ roslaunch hamer_mini_control hamer_mini_control.launch -
Added hamer_mini_keyboard package (This package provided Hamer Mini's keyboard controlling.)
$ rosrun hamer_mini_keyboard hamer_mini_keyboard.py
NOTE: Before running keyboard code, run on terminal this codes:
$ cd ~/hamer_mini_keyboard/scripts
$ chmod +x hamer_mini_keyboard.py
- Some bug fixes.
- Fixed hamer_mini package's package.xml and CMakeLists.txt files.
- Fixed "hamermini_gazebo.launch" file. Now, when the gazebo launch file is run alone, the model can be displayed on the screen.
- Fixed "hamermini_rviz.launch" file. Now all the display tools of the robot come to the rviz menu automatically. Also, when launching the rviz, there is no need to add a "model" to the end of the command.
- Some changes have been made to the hamer_mini.urdf file. The movement of the wheels was stopped until the problem of wheel movement was resolved (It will be fixed in the next update).
- Package requirements can now be used by downloading the workspace file to the src folder (such as slam_gmapping and gazebo_ros_pkg).
- Some bug fixes
NOTE: If you are encountering a freeze problem during the "catkin_make" process, try using the "catkin_make_isolated" command!
- Added "Skid Steering Drive Plugin" to hamer_mini.urdf file (http://gazebosim.org/tutorials?tut=ros_gzplugins#SkidSteeringDrive).
- Some changes have been made to the hamer_mini.urdf file. The movement of the wheels problem has solved.
- Added "joint_state_publisher_gui" to hamermini_rviz.launch file. Movement controls of the wheels of the robot can now be controlled on the RViz screen.
- Some bug fixes.
New Requirements:
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In order for the "joint_state_publisher" to work, "joint_state_publisher_gui" package must be downloaded to your computer.
$ sudo apt update $ sudo apt install ros-melodic-joint-state-publisher-gui