Summit Simulator - Repo Under Construction

This package allows running different Gazebo worlds, using the Summit Platform by Robotnik Automation

Installation

Prepare your thirparty repos:

sudo apt update
sudo apt install python3-vcstool python3-pip python3-rosdep python3-colcon-common-extensions -y
cd <ros2-workspace>/src
vcs import < summit_simulator/thirdparty.repos

Check if the installation was succesfully.

NOTE: You must have in your workspace the robot_package distributed by Robotnik.

Building project

cd <ros2-workspace>
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF

Setup Environment

Add it to your .bashrc file

source /usr/share/gazebo/setup.bash
source <ros2-workspace>/install/setup.bash

Also it works with .zshrc changing by the correct extension file.

Run Gazebo & Summit in ROS 2

Launch the robot state publisher :

ros2 launch summit_simulator robotnik_base_sim.launch.py

Try to launch the gazebo simulation:

ros2 launch summit_simulator robot_gazebo.launch.py

In gazebo simulator launcher, there are more nodes as RVIZ visualizator. They nodes are waiting for controller launcher and their visualization could be difuss. Finally, launch the controller launcher:

ros2 launch summit_simulator robot_simulation.launch.py

After the latest step, the robot visualization should be completed witouth wrongs or warnings.

Otherwise, you can close the Gazebo client:

pkill -f gzclient

License

Shield:

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

juanscelyg/summit_simulator