Skip to content

Latest commit

 

History

History
74 lines (40 loc) · 2.68 KB

README.md

File metadata and controls

74 lines (40 loc) · 2.68 KB
Raw

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