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summit_x_sim: summit_x_control | summit_x_gazebo | summit_x_robot_control

Package Summary

The summit_x_sim metapackage

summit_x_sim: summit_x_control | summit_x_gazebo | summit_x_robot_control

Package Summary

The summit_x_sim metapackage

Package Summary

This package contains the different controllers and launch files for the SummitX robot simulation.

SummitX Gazebo

List of packages

summit_x_control

This package contains the launch and configuration files to spawn the joint controllers with the ROS controller_manager.

summit_x_gazebo

Launch files and world files to start the models in gazebo

summit_x_robot_control

Control the robot joints in all kinematic configurations, publishes odom topic and, if configured, also tf odom to base_link. Usually takes as input joystick commands and generates as outputs references for the gazebo controllers defined in summit_xl_control. This package permits an alternative way to control the robot motion (4 motorwheels) that by default is carried on by the Gazebo plugin (skid-steer). In the default configuration this package only controls the pan-tilt camera joints. When used as main controller of the simulated robot, this node also computes the odometry of the robot using the joint movements and a IMU and publish this odometry to /odom. The node has a flag in the yaml files that forces the publication or not of the odom->base_footprint frames, needed by the localization and mapping algorithms.


2019-11-16 13:24