ROS Software Maintainer: Roberto Guzman
Other uses for SUMMIT XL Packages
The SUMMIT-XL packages are also used for the SUMMIT-XL HL and the SUMMIT XL STEEL.
The SUMMIT-XL has skid-steering kinematics based on 4 high power motorwheels. Each wheel integrates a hub brushless motor with gearbox and encoder (optional).
SUMMIT-XL has two possible kinematic configurations. The omnidirectional configuration mounts mecanum wheels on an independent suspension system. The mecanum wheels can be easily replaced by conventional wheels (rim mount), thus allowing easy switch from the indoor omnidirectional configuration to the versatile skid- steerin conficuration, both indoors and outdoors.
The odometry is computed with the use of the four encoders and a high precision angular sensor mounted inside the chassis.
The strong mechanical structure allows to carry high loads. There are several suspension shocks possibilities. They can also be mounted at several positions to modify the robot clearance.
The robot base can navigate autonomously or teleoperated by means of a PTZ camera that transmits video in real time.
The common sensor options includ a Hokuyo laser scanner and a range of RTK-DGPS kits. It also has internal (USB; RS232 and GPIO) and external connectivity (USB, RJ45 and power supply 12 VDC) to easily add custom components.
Dimensions: 720 x 613 x 392 mm
Weight: 45 Kg
Payload: 20 Kg
Speed: 3 m/s
Environmet: Indoor / Outdoor
Autonomy: 5 h
Traction system: 4 wheel
Traction motors: 4 x 250 W brushless servomotors
Temperature range: 0º to +50ºC
Maximum slope: 80%
Controller: Open architetur ROS / PC with Linux integrated
Communication: WiFi 802.11n
Connectivity: Internal: USB, RS232 Y GPIO; External: USB, RJ45, 12 VDC and battery
- The robot mouns an IMU by default. There is the possibility of adding another high precision IMU:
- Acceleration 3D
- Gyro 3D
- Magnetic field 3D
2. PTZ Cameras
4. Radio control station fasst
- 6 channels
- Includes take-over
5. Camera range 3d (ORBBEC)
- Docking station
summit_xl_sim : Packages for the simulation of the SUMMIT XL.
summit_xl_common : Common packages of the SUMMIT XL: URDF description of the SUMMIT XL and SUMMIT XL HL, platform messages and other files for simulation.