diff --git a/scout_description/urdf/scout_v2.gazebo b/scout_description/urdf/scout_v2.gazebo
index 86ab624..522a2a7 100644
--- a/scout_description/urdf/scout_v2.gazebo
+++ b/scout_description/urdf/scout_v2.gazebo
@@ -1,9 +1,19 @@
-
+
+
+
+
+
+
+
+
+
+
+
@@ -40,5 +50,5 @@
20.0
base_footprint
- -->
+ -->
\ No newline at end of file
diff --git a/scout_description/urdf/scout_v2.xacro b/scout_description/urdf/scout_v2.xacro
index 216e8fd..e0ba235 100644
--- a/scout_description/urdf/scout_v2.xacro
+++ b/scout_description/urdf/scout_v2.xacro
@@ -85,14 +85,13 @@
-
-
+
diff --git a/scout_description/urdf/scout_wheel.gazebo b/scout_description/urdf/scout_wheel.gazebo
new file mode 100644
index 0000000..b9eb14d
--- /dev/null
+++ b/scout_description/urdf/scout_wheel.gazebo
@@ -0,0 +1,50 @@
+
+
+
+
+
+
+
+
+
+
+
+ -->
+
+
+ transmission_interface/SimpleTransmission
+
+ 1
+
+
+ hardware_interface/VelocityJointInterface
+
+
+
+
+
diff --git a/scout_description/urdf/scout_wheel_type1.xacro b/scout_description/urdf/scout_wheel_type1.xacro
index 0a36557..ebdb9fe 100644
--- a/scout_description/urdf/scout_wheel_type1.xacro
+++ b/scout_description/urdf/scout_wheel_type1.xacro
@@ -54,24 +54,5 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
-
-
-
-
-
-
-
-
-
-
-
- transmission_interface/SimpleTransmission
-
- 1
-
-
- hardware_interface/VelocityJointInterface
-
-
diff --git a/scout_description/urdf/scout_wheel_type2.xacro b/scout_description/urdf/scout_wheel_type2.xacro
index 8331ca9..d8aa310 100644
--- a/scout_description/urdf/scout_wheel_type2.xacro
+++ b/scout_description/urdf/scout_wheel_type2.xacro
@@ -54,25 +54,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
-
-
-
-
-
-
-
-
-
-
-
- transmission_interface/SimpleTransmission
-
- 1
-
-
- hardware_interface/VelocityJointInterface
-
-
diff --git a/scout_gazebo_sim/CHANGELOG.md b/scout_gazebo_sim/CHANGELOG.md
new file mode 100644
index 0000000..072663c
--- /dev/null
+++ b/scout_gazebo_sim/CHANGELOG.md
@@ -0,0 +1,5 @@
+## Changelog
+
+0.0.1 (2020-03-25)
+------------------
+* Initial release for Melodic.
diff --git a/scout_gazebo_sim/CMakeLists.txt b/scout_gazebo_sim/CMakeLists.txt
new file mode 100644
index 0000000..82c5242
--- /dev/null
+++ b/scout_gazebo_sim/CMakeLists.txt
@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(scout_gazebo_sim)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+ roslaunch
+ roslint
+ roscpp
+ sensor_msgs
+ std_msgs
+ geometry_msgs
+ scout_msgs
+ scout_sdk
+ tf2
+ tf2_ros
+)
+catkin_package(
+ INCLUDE_DIRS include
+# LIBRARIES
+ CATKIN_DEPENDS roscpp sensor_msgs
+# DEPENDS Boost
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+ include
+ ${catkin_INCLUDE_DIRS}
+)
+
+add_library(scout_gazebo STATIC src/scout_skid_steer.cpp)
+target_link_libraries(scout_gazebo ${catkin_LIBRARIES})
+
+add_executable(scout_skid_steer_controller src/scout_skid_steer_controller.cpp)
+target_link_libraries(scout_skid_steer_controller scout_gazebo ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+roslaunch_add_file_check(launch)
+
+install(
+ DIRECTORY launch worlds
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/scout_gazebo_sim/config/scout_v2_control.yaml b/scout_gazebo_sim/config/scout_v2_control.yaml
new file mode 100644
index 0000000..2f1415c
--- /dev/null
+++ b/scout_gazebo_sim/config/scout_v2_control.yaml
@@ -0,0 +1,37 @@
+# Publish all joint states -----------------------------------
+scout_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 50
+
+# Joint velocity controllers ---------------------------------
+scout_motor_fr_controller:
+ type: velocity_controllers/JointVelocityController
+ joint: front_right_wheel
+ pid:
+ p: 5.0
+ i: 20.0
+ i_clamp: 100.0
+
+scout_motor_fl_controller:
+ type: velocity_controllers/JointVelocityController
+ joint: front_left_wheel
+ pid:
+ p: 5.0
+ i: 20.0
+ i_clamp: 100.0
+
+scout_motor_rl_controller:
+ type: velocity_controllers/JointVelocityController
+ joint: rear_left_wheel
+ pid:
+ p: 5.0
+ i: 20.0
+ i_clamp: 100.0
+
+scout_motor_rr_controller:
+ type: velocity_controllers/JointVelocityController
+ joint: rear_right_wheel
+ pid:
+ p: 5.0
+ i: 20.0
+ i_clamp: 100.0
\ No newline at end of file
diff --git a/scout_gazebo_sim/include/scout_gazebo/scout_skid_steer.hpp b/scout_gazebo_sim/include/scout_gazebo/scout_skid_steer.hpp
new file mode 100644
index 0000000..21d9e47
--- /dev/null
+++ b/scout_gazebo_sim/include/scout_gazebo/scout_skid_steer.hpp
@@ -0,0 +1,27 @@
+/*
+ * scout_skid_steer.hpp
+ *
+ * Created on: Mar 25, 2020 22:52
+ * Description:
+ *
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */
+
+#ifndef SCOUT_SKID_STEER_HPP
+#define SCOUT_SKID_STEER_HPP
+
+#include
+
+#include
+
+namespace wescore {
+class ScoutSkidSteer {
+ public:
+ ScoutSkidSteer(std::string robot_name);
+
+ private:
+ std::string robot_name;
+};
+} // namespace wescore
+
+#endif /* SCOUT_SKID_STEER_HPP */
diff --git a/scout_gazebo_sim/launch/husky_playpen.launch b/scout_gazebo_sim/launch/husky_playpen.launch
new file mode 100644
index 0000000..b11cf59
--- /dev/null
+++ b/scout_gazebo_sim/launch/husky_playpen.launch
@@ -0,0 +1,38 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/scout_gazebo_sim/launch/playpen.launch b/scout_gazebo_sim/launch/playpen.launch
new file mode 100644
index 0000000..89e8109
--- /dev/null
+++ b/scout_gazebo_sim/launch/playpen.launch
@@ -0,0 +1,37 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/scout_gazebo_sim/launch/scout_empty_world.launch b/scout_gazebo_sim/launch/scout_empty_world.launch
new file mode 100644
index 0000000..b8f2368
--- /dev/null
+++ b/scout_gazebo_sim/launch/scout_empty_world.launch
@@ -0,0 +1,43 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/scout_gazebo_sim/launch/spawn_scout_v2.launch b/scout_gazebo_sim/launch/spawn_scout_v2.launch
new file mode 100644
index 0000000..efee5cf
--- /dev/null
+++ b/scout_gazebo_sim/launch/spawn_scout_v2.launch
@@ -0,0 +1,34 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/scout_gazebo_sim/package.xml b/scout_gazebo_sim/package.xml
new file mode 100644
index 0000000..edd3bf9
--- /dev/null
+++ b/scout_gazebo_sim/package.xml
@@ -0,0 +1,31 @@
+
+
+ scout_gazebo_sim
+ 0.0.1
+ AgileX Scout 2.0 Simulator bringup
+
+ Ruixiang Du
+ Ruixiang Du
+
+ BSD
+
+ http://ros.org/wiki/scout_gazebo
+ https://github.com/husky/husky_simulator/issues
+ https://github.com/westonrobot/scout_ros
+
+ catkin
+ roslaunch
+ roscpp
+ sensor_msgs
+ roscpp
+ sensor_msgs
+ controller_manager
+ gazebo_plugins
+ gazebo_ros
+ gazebo_ros_control
+ scout_description
+ rostopic
+
+
+
+
diff --git a/scout_gazebo_sim/src/scout_skid_steer.cpp b/scout_gazebo_sim/src/scout_skid_steer.cpp
new file mode 100644
index 0000000..b63fb90
--- /dev/null
+++ b/scout_gazebo_sim/src/scout_skid_steer.cpp
@@ -0,0 +1,14 @@
+/*
+ * scout_skid_steer.cpp
+ *
+ * Created on: Mar 25, 2020 22:54
+ * Description:
+ *
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */
+
+#include "scout_gazebo/scout_skid_steer.hpp"
+
+namespace wescore {
+
+}
\ No newline at end of file
diff --git a/scout_gazebo_sim/src/scout_skid_steer_controller.cpp b/scout_gazebo_sim/src/scout_skid_steer_controller.cpp
new file mode 100644
index 0000000..d6c33a4
--- /dev/null
+++ b/scout_gazebo_sim/src/scout_skid_steer_controller.cpp
@@ -0,0 +1,52 @@
+#include
+
+#include
+#include
+#include
+#include
+
+#include "scout_gazebo/scout_skid_steer.hpp"
+
+using namespace wescore;
+
+int main(int argc, char **argv)
+{
+ // setup ROS node
+ ros::init(argc, argv, "scout_odom");
+ ros::NodeHandle node(""), private_node("~");
+
+ // // instantiate a robot object
+ // ScoutBase robot;
+ // ScoutROSMessenger messenger(&robot, &node);
+
+ // // fetch parameters before connecting to robot
+ // std::string port_name;
+ // private_node.param("port_name", port_name, std::string("can0"));
+ // private_node.param("odom_frame", messenger.odom_frame_, std::string("odom"));
+ // private_node.param("base_frame", messenger.base_frame_, std::string("base_link"));
+ // private_node.param("simulated_robot", messenger.simulated_robot_, false);
+
+ // // connect to robot and setup ROS subscription
+ // if (port_name.find("can") != std::string::npos)
+ // {
+ // robot.Connect(port_name);
+ // ROS_INFO("Using CAN bus to talk with the robot");
+ // }
+ // else
+ // {
+ // robot.Connect(port_name, 115200);
+ // ROS_INFO("Using UART to talk with the robot");
+ // }
+ // messenger.SetupSubscription();
+
+ // // publish robot state at 20Hz while listening to twist commands
+ // ros::Rate rate_20hz(20); // 20Hz
+ // while (true)
+ // {
+ // messenger.PublishStateToROS();
+ // ros::spinOnce();
+ // rate_20hz.sleep();
+ // }
+
+ return 0;
+}
\ No newline at end of file
diff --git a/scout_gazebo_sim/worlds/clearpath_playpen.world b/scout_gazebo_sim/worlds/clearpath_playpen.world
new file mode 100644
index 0000000..ded8852
--- /dev/null
+++ b/scout_gazebo_sim/worlds/clearpath_playpen.world
@@ -0,0 +1,3469 @@
+
+
+
+
+
+ 1
+ 0 0 10 0 -0 0
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+
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