A package to simulate the Mirte Master Robot.
This packaged is structered as the mirte-gazebo Repository.
NOTES: Use
mirte_master_gazebo
for the simulation by launchinggazebo.launch
roslaunch mirte_master_gazebo spawn_mirte_master.launch
can be used to spawn a Mirte Master in any Gazebo world. (The current way of doing things only allows for 1 mirte due to naming collisions)
WARNING: DO NOT export a ROS_MASTER_URI
to a mirte IP adress, while using Gazebo. this will cause it to hang. This is because gazebo will create its own 'world' and roscore instead of using a local mirte roscore.
- The arm
- The front camera (not supplied for MDP 2024)
- Battery
- Flag (Optional to enable)
- LiDAR
- Depthcamera
- Sonar
- IMU
Installing catkintools
(provides catkin build
as alternative to catkin_make
) is helpful and recommended: (You may need to clean your workspace if you are migrating).
sudo apt update && sudo apt upgrade # Make sure your system is up to date.
sudo apt install python3-catkin-tools
If you use this from now on build with catkin build
Clone this in the root folder of your catkin workspace.
# Create the catkin_ws if it has not been created yet or use a preexisitng one
# mkdir catkin_ws/src; cd catkin_ws
cd src
git clone [email protected]:diebolo/mirte-master-simulator.git
cd mirte-master-simulator
git submodule update --init --recursive
cd ../.. # Go back to the workspace root
Also install ArendJan/mirte_ros_packages
(branch mirte_master), you may have already done that (You where asked to remove some packages we need)
To do this:
# be in catkin workspace root folder
cd src
git clone https://github.com/ArendJan/mirte-ros-packages.git -b mirte-master
cd ..
To finish the install do from the catkin workspace root:
rosdep install --from-paths src --ignore-src -r -y
# It will says astra_camera not found, which is fine
catkin config --skiplist ridgeback_navigation ridgeback_description mirte_bringup
catkin build # remove everything except the src folder
TODO: But the packages you need to copy are:
mirte_master_description
gazebo_sensor_collection_description
- Jasper van Brakel (Integration) | Group 10
- Tyler Olson (Exporting the SOLID WORKS to URDF (with manual frame allignment)
- Jelle Woudstra (LiDAR example)
- Xavier ... (Some intial driving)