Simple model and world for simulate tracked vehicle.
Xacro files converted from gazebo tracked-vehicle demo.
Launch robot in empty world with roslaunch tracked_description empty_world.launch
.
You can control robot with keyboard WADS
.
- Remove all
plugin
tags in sdf - Convert joint and link tags in sdf to urdf format with pysdf
- Add
plugin
to urdf with gazebo tags - Convert urdf to xacro (by hand) for the convenience of adjusting model
This terrain world file is generated from terrain_generator.
Move autogen_terrain
world model to ~/.gazebo/models
with script setup.bash
。
Launch robot in terrain world with roslaunch tracked_description mountain_world.launch
.
You can control robot with keyboard WADS
.
transport twist cmd: ros->gazebo.
based on gazebo_plugins/gazebo_ros_diff_drive.cpp
modify WheelTrackedVehiclePluginto solve slip issues.
ground truth publisher is implemented in gt_publisher_node.cpp
.
modify libgazebo_ros_p3d
for eliminating bias of coordinate.
roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_vins/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml" MH_seq:=true raw_images_for_odom:=true