jaguar:simulation_environment

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jaguar:simulation_environment [2020/06/01 18:09] – created a18mitrijaguar: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
  • jaguar/simulation_environment.1591034965.txt.gz
  • Last modified: 2020/06/01 18:09
  • by a18mitri