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moved navigation and simulation packages to scout_nav

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This commit is contained in:
Ruixiang Du
2020-08-21 17:31:28 +08:00
parent 4ebad08517
commit e9f66d9f57
65 changed files with 8 additions and 8855 deletions
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34
README.md
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@@ -1,17 +1,12 @@
# ROS Packages for Scout Mobile Base
# ROS Packages for Scout Mobile Robot
## Packages
This repository contains minimal packages to control the scout robot using ROS.
* scout_bringup: launch and configuration files to start ROS nodes
* scout_base: a ROS wrapper around Scout SDK to monitor and control the robot
* scout_base: a ROS wrapper around [wrp_sdk](https://github.com/westonrobot/wrp_sdk) to monitor and control the scout robot
* scout_msgs: scout related message definitions
* (scout_ros: meta package for the Scout robot ROS packages)
The following diagram may help you to understand how the components are inter-connected with each other:
<img src="./docs/diagram.png" height="135" >
The purple blocks represent ROS packages included within this repository.
## Communication interface setup
@@ -22,11 +17,8 @@ Please refer to the [README](https://github.com/westonrobot/wrp_sdk#hardware-int
1. Install dependent libraries
```
$ sudo apt install libasio-dev
$ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard
$ sudo apt install ros-melodic-teleop-twist-keyboard
$ sudo apt-get install ros-melodic-joint-state-publisher-gui
$ sudo apt install ros-melodic-ros-controllers
$ sudo apt install -y libasio-dev
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
```
2. Clone the packages into your catkin workspace and compile
@@ -36,7 +28,7 @@ Please refer to the [README](https://github.com/westonrobot/wrp_sdk#hardware-int
```
$ cd ~/catkin_ws/src
$ git clone https://github.com/westonrobot/wrp_sdk.git
$ git clone https://github.com/westonrobot/scout_ros.git
$ git clone https://github.com/westonrobot/scout_base.git
$ cd ..
$ catkin_make
```
@@ -55,18 +47,6 @@ Please refer to the [README](https://github.com/westonrobot/wrp_sdk#hardware-int
$ roslaunch scout_bringup scout_minimal_uart.launch
```
* Start the Webots-based simulation (Scout V1)
```
$ roslaunch scout_bringup scout_base_webots_sim.launch
```
* Start the Gazebo-based simulation (Scout V2)
```
$ roslaunch scout_bringup scout_base_gazebo_sim.launch
```
* Start the keyboard tele-op node
```