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
  

2. 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
  

3. 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"