Packages for the simulation of the Summit robot

New gazebo 1.9 style robot control

robot description (urdf and meshes).

launch files and world files to start the models in gazebo

node to process the joystick in simulation (configured for PS3, but others are also possible).

control the robot joints in all kinematic configurations, publishes odom topic and, if configured, also tf odom to base_link. Usually takes as input joystick commands and generates as outputs references for the gazebo controllers defined in summit_control.

specific launch files to use the robotnik_purepursuit_planner to control the Summit passing waypoints in Cartesian coords

Intallation process for ROS-melodic

• https://github.com/RobotnikAutomation/robotnik_purepursuit_planner
• https://github.com/RobotnikAutomation/robotnik_msgs
• https://github.com/ros-drivers/ackermann_msgs
• https://github.com/RobotnikAutomation/robotnik_sensors.git
• https://wiki.ros.org/depthimage_to_laserscan (sudo apt install ros-melodic-depthimage_to_laserscan)

Download this repository and checkout to "melodic" branch.

Execute Catkin_make in the catkin workspace.

Install the dependencies:

rosdep install --from-paths src --ignore-src

If gazebo does show the following error:

[Err] [REST.cc:205] Error in REST request
libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'

The solution is to apply the change proposed in: https://bitbucket.org/osrf/gazebo/issues/2607/error-restcc-205-during-startup-gazebo