limo_ros

About

This repository contains ROS packages for limo.

Packages

Each of the packages will have their own readmes that go further into detail on their usage.

• limo_base: ROS wrapper for limo
  This packages contains the driver and control node used to control the limo robot itself.
• limo_bringup: launch and configuration files to start ROS nodes
  This packae contains different launch files for convenient launching of different scenarios and tools.
• limo_description: URDF model for limo
  This package contains the URDF and meshes that makes up the limo model.
• limo_gazebo_sim: Gazebo simulation for limo
  This package contains the gazebo simulation environments for the limo robot.

Building The Packages

Clone the packages into a catkin workspace and compile/source. (the following instructions assume your catkin workspace is at: ~/catkin_ws/src)

    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/src
    git clone https://github.com/westonrobot/limo_ros.git
    cd ..
    catkin_make
    source devel/setup.bash

Usage

• Start the base node for limo

  $ roslaunch limo_bringup limo_start.launch
  

• Start the keyboard teleop node

  $ roslaunch limo_bringup limo_teleop_keyboard.launch