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 launching gazebo.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)