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Packages for the simulation of the Summit XL, Summit XL HL and Summit-X (including X-WAM) robots
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summit_xl_gazebo gazebo: Add build dependencies Apr 16, 2019
summit_xl_sim summit_xl_sim: removing old run_depend Jul 8, 2018
summit_xl_sim_bringup Add config for omnidirectional movement Mar 11, 2019
LICENSE Initial commit Aug 18, 2014


Packages for the simulation of the Summit XL



Launch files and world files to start the models in gazebo


Launch files that launch the complete simulation of the robot/s

Simulating Summit XL

  1. Install the following dependencies:
  • summit_xl_common link

  • robotnik_msgs link

  • robotnik_sensors link

    In the workspace install the packages dependencies:

    rosdep install --from-paths src --ignore-src -r -y
  1. Launch Summit XL simulation (1 robot by default, up to 3 robots):
  • Summit XL:

    roslaunch summit_xl_sim_bringup summit_xl_complete.launch
  • or Summit XL Steel:

    roslaunch summit_xl_sim_bringup summit_xls_complete.launch

    Optional general arguments:

    <arg name="launch_rviz" default="true"/>
    <arg name="gazebo_world" default="$(find summit_xl_gazebo)/worlds/"/>
    <arg name="omni_drive" default="false"/> (only for Summit XL)

    Optional robot arguments:

    <!--arguments for each robot (example for robot A)-->
    <arg name="id_robot_a" default="summit_xl_a"/>
    <arg name="launch_robot_a" default="true"/>
    <arg name="map_file_a" default="willow_garage/willow_garage.yaml"/>
    <arg name="localization_robot_a" default="true"/>
    <arg name="gmapping_robot_a" default="false"/>
    <arg name="move_base_robot_a" default="false"/>
    <arg name="amcl_and_mapserver_a" default="false"/>
    <arg name="x_init_pose_robot_a" default="0" />
    <arg name="y_init_pose_robot_a" default="0" />
    <arg name="z_init_pose_robot_a" default="0" />
    <arg name="xacro_robot_a" default="summit_xl_std.urdf.xacro"/>
  • Example to launch simulation with 3 Summit XL robots:

    roslaunch summit_xl_sim_bringup summit_xl_complete.launch launch_robot_b:=true launch_robot_c:=true
  • Example to launch simulation with 1 Summit XL robot with navigation:

    roslaunch summit_xl_sim_bringup summit_xl_complete.launch move_base_robot_a:=true amcl_and_mapserver_a:=true localization_robot_a:=true
  1. Enjoy! You can use the topic "${id_robot}/robotnik_base_control/cmd_vel" to control the Summit XL robot or send simple goals using "/${id_robot}/move_base_simple/goal"
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