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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
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LICENSE Initial commit Aug 18, 2014
README.md

README.md

summit_xl_sim

Packages for the simulation of the Summit XL











Packages

summit_xl_gazebo

Launch files and world files to start the models in gazebo

summit_xl_sim_bringup

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/summit_xl_office.world"/>
    <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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