SML Nexus Simulator

ROS package of SML Nexus robot Gazebo simulation. Provides a Gazebo plugin to simulate holonomic drive.

Usage

Run the simulation for one nexus robot by using the following command line:

roslaunch sml_nexus_gazebo sml_nexus_world.launch

To launch two nexus robots, use the following launch file:

roslaunch sml_nexus_gazebo sml_nexus_multi.launch

Dependencies

• sml_nexus_description (part of the sml_nexus repo) for the robot URDF model
• Gazebo7 or Gazebo9

Launch files

• sml_nexus_world.launch: Launches Gazebo and spawn one nexus robot.

  • use_sim_time Tells ROS nodes asking for time to get the Gazebo-published simulation time, published over the ROS topic /clock. Default: true.

  • gui Launch the user interface window of Gazebo. Default: true.

  • headless Enable gazebo state log recording. Default: false.

• sml_nexus_multi.launch: Launches Gazebo and spawn two nexus robots with their namespace. This launch file aims to provide an example for multi-robot simulation.

  • use_sim_time Tells ROS nodes asking for time to get the Gazebo-published simulation time, published over the ROS topic /clock. Default: true.

  • gui Launch the user interface window of Gazebo. Default: true.

  • headless Enable gazebo state log recording. Default: false.

• spawn_one_nexus.launch: To be included in a launch file to spawn a nexus robot.

  • robot_name Robot name used as namespace for the spawned robot. Default: nexus0.

  • pose_x x coordinate (in m) of the robot spawn pose. Default: 0.

  • pose_y y coordinate (in m) of the robot spawn pose. Default: 0.

Gazebo plugin

• sml_nexus_ros_force_based_move:

  Outputs a force and a torque on the base link of a robot, using a velocity command as input and a proportional controller. Includes check for both Gazebo7 and Gazebo9 compatibility.

  • Subscribed topic

    • /cmd_vel (geometry_msgs/Twist)

      Receives velocity command as a Twist message. The plugin will only process the linear velocity on the x and y-axis and the angular velocity on the z-axis

  • Published Topics

    • /odom (nav_msgs/Odometry)

      Odometry from Gazebo model pose and velocity.

    • /front_sensor (sensor_msgs/Range)

      Front ultrasonic range sensor distance

    • /left_sensor (sensor_msgs/Range)

      Left ultrasonic range sensor distance

    • /rear_sensor (sensor_msgs/Range)

      Rear ultrasonic range sensor distance

    • /right_sensor (sensor_msgs/Range)

      Right ultrasonic range sensor distance