The mach1_simulation ROS package provides a comprehensive simulation environment for the Mach1 robot. It includes a 3D model of the robot, with some noticeable changes, and configuration files that allow for visualization and simulation within the ROS (Robot Operating System) framework.
The 3D model of the robot, shown below, was generated using Fusion 360 and then exported as an xacro file.
urdf/: Unified Robot Description Format (URDF) files defining the robot's 3D model.meshes/: Mesh files (.stl or .dae format) defining detailed geometry of the robot's components.config/: Configuration files for robot simulation and visualization.launch/: Launch files for integrating with other ROS nodes and packages.rviz/: RViz configuration files for visualizing the Mach1 robot.
To use the Mach1 Simulation package, you will need to have ROS Noetic installed on your system. If you haven't installed ROS Noetic yet, you can follow the installation instructions on the official ROS website: http://wiki.ros.org/ROS/Installation.
- Install ROS Noetic.
- Create a new ROS workspace or use an existing one.
- Clone the
mach1_simulationpackage into thesrc/directory of your workspace. - Build the workspace using either
catkin_makeorcatkin_buildcommand. - Customize and extend the package as per your requirements to further enhance the Mach1 simulation.
Launch the robot model using the provided launch files. For example, you can use the following command: roslaunch mach1_simulation display.launch.
The mach1_simulation package is licensed under the MIT License.
The mach1_simulation package is developed and maintained by Julian Rendon.