Only released in EOL distros:
Package Summary
The Jackal simulation base that combines all components.
- Maintainer status: developed
- Maintainer: Nick Sullivan <nick.dave.sullivan AT gmail DOT com>
- Author: Nick Sullivan <nick.dave.sullivan AT gmail DOT com>
- License: BSD
- Source: git https://github.com/NicksSimulationsROS/multi_jackal.git (branch: ros-kinetic)
Overview
multi_jackal_base provides a launch file for spawning all components of a simulated Clearpath Jackal. It has been extended from the single robot jackal_base to separate the robots into unique namespaces, allowing multiple robots to be simulated at the same time.
Tutorials
There are tutorials on how to use this package in multi_jackal_tutorials.
Arguments
A number of arguments can be provided when launching jackal_base.launch.
ns (string) -- The namespace of the robot. All nodes/topics/frames will be prefixed with this.
x (double) -- The starting x position of the robot in Gazebo (m).
y (double) -- The starting y position of the robot in Gazebo (m).
z (double) -- The starting z position of the robot in Gazebo (m).
roll (double) -- The starting roll orientation of the robot in Gazebo (rad).
pitch (double) -- The starting pitch orientation of the robot in Gazebo (rad).
yaw (double) -- The starting yaw orientation of the robot in Gazebo (rad).
config (string) -- The configuration file to load in multi_jackal_description/urdf/configs.
config_id (int) -- The configuration ID for use in the configuration file.
use_move_base (bool) -- Whether to load move_base to navigate to goals.
use_global_tf (bool) -- Whether to provide a static transform from map to ns/odom.
use_global_ekf (bool) -- Whether to use the GPS to provide map to ns/odom.
If you only want to use local odometry for positioning, set use_global_tf to true and use_global_ekf to false. If you want to use the Jackals GPS, set use_global_ekf to true, and use_global_tf to false. If you want to use your own fusion, set them both to false.