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jaguar:simulation_environment [2020/06/01 18:09] a18mitri created |
jaguar:simulation_environment [2020/06/01 18:29] (current) a18mitri |
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| - | ====== Jaguar V4 CMS model ====== | + | ====== Jaguar V4 CMS model environment ====== |
| This wiki page presents a ROS package of Jaguar v4 CMS model with a home environment. | This wiki page presents a ROS package of Jaguar v4 CMS model with a home environment. | ||
| + | |||
| + | ===== Package contents ===== | ||
| + | 1. Robot's urdf model with a Kinect. | ||
| + | |||
| + | 2. Environment consisting of 2 floors. | ||
| + | |||
| + | 3. Topics for interaction with the robot. | ||
| + | |||
| + | 4. Keyboard teleopration node. | ||
| ===== Requirements and Installation ===== | ===== Requirements and Installation ===== | ||
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| roscd tracked_robot_environment/plugins/flipper_control && mkdir build && cd build && cmake ../ && make | roscd tracked_robot_environment/plugins/flipper_control && mkdir build && cd build && cmake ../ && make | ||
| - | 7. The path to the .so file produced in the previous step has to be provided in the line < plugin name="jaguar_plugin" filename= > of /tracked_robot_environment/urdf/model.urdf | + | 7. The path to the .so file has to be replaced by the new one obtained in the previous step in the line < plugin name="jaguar_plugin" filename= > of /tracked_robot_environment/urdf/model.urdf |
| ===== How to launch ===== | ===== How to launch ===== | ||
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| b. Left and right front flippers are correspondingly controlled by twist.linear.x and twist.linear.y | b. Left and right front flippers are correspondingly controlled by twist.linear.x and twist.linear.y | ||
| c. Left and right rear flippers are correspondingly controlled by twist.angular.x and twist.angular.y | c. Left and right rear flippers are correspondingly controlled by twist.angular.x and twist.angular.y | ||
| - | 2. IMU data can be found in /imu topic. | + | 2. IMU data can be found in the /imu topic. |
| - | 3. The exact robot's position is provided in /odom topic. | + | 3. The exact robot's position is provided in the /odom topic. |
| 4. Raw RGB and depth images can be found in /camera/depth/image_raw and /camera/rgb/image_raw topics. | 4. Raw RGB and depth images can be found in /camera/depth/image_raw and /camera/rgb/image_raw topics. | ||
| ===== Important links ===== | ===== Important links ===== | ||
| - | Package | + | The tracked_robot_environment package: |
| + | https://partage.imt.fr/index.php/s/NzxczT8otJmCspQ | ||
| + | CMS model: | ||
| + | https://www.researchgate.net/publication/314943370_Fast_Simulation_of_Vehicles_with_Non-deformable_Tracks | ||