rm_description

Overview

This is a ROS package with description files of RoboMaster robot made by DynamicX.

Keywords: RoboMaster, URDF, description

Or, add some keywords to the Bitbucket or GitHub repository.

License

The source code is released under a BSD 3-Clause license.

Author: QiayuanLiao
Affiliation: DynamicX
Maintainer: QiayuanLiao, liaoqiayuan@gmail.com

The rm_description package has been tested under [ROS] Noetic on respectively 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Building from Source

Dependencies

Robot Operating System (ROS) (middleware for robotics),
rm_gazebo if use_rm_gazbe
gazebo_ros
gazebo_ros_control
xacro

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone git@github.com:gdut-dynamic-x/rm_description.git
# git clone https://github.com/gdut-dynamic-x/rm_description.git
cd ../
rosdep install --from-paths . --ignore-src
catkin build # Actually nothing to build

Usage

Run the simulation with:

roslaunch rm_description hero.launch

Config files

worlds/empty.worlds Simulate physics eigen params.

Launch files

hero.launch: Launch Gazebo and load hero robot.

Loading argument set
- load_chassis Load chassis URDF. Default: true.
- load_gimbal Load gimbal URDF. Default: true.
- load_shooter Load shooter URDF. Default: true.
- load_gazebo Load Gazebo params and run Gazebo. Default: true.
- use_rm_gazebo Use Gazebo params and run Gazebo. Default: false.
- paused Paused simulation when load Gazbeo. Default: true.
Chassis argument set
- roller_type How to simulate the roller of mecanum wheel, set simple to use sphere roller for speed up simulation, set none for real robot. Default: realistic(use one sphere with two capsule roller.stl).

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker .

YuexinMu/rm_description