archit2604/omnibase

This repository has a simulator of an omniwheel drive robot.

omnibase

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About:

Omnibase is a simulator of a 4 wheel drive robot. The robot is an omniwheeled robot and can move in any direction in the X-Y plane and rotate about its axis.

For more detailed documentation click here.

Installations:

• Install ROS melodic from ROS website.

• Install some system dependencies by:

sudo apt install python-wstool python-catkin-tools  \
	ros-melodic-joint-state-controller  \
	ros-melodic-effort-controllers  \
	ros-melodic-joint-trajectory-controller  \
	ros-melodic-position-controllers  \
	ros-melodic-velocity-controllers

• Package installation from debian:

sudo apt update
sudo apt install ros-melodic-omnibase-control 
sudo apt install ros-melodic-omnibase-gazebo 
sudo apt install ros-melodic-omnibase-description

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• Package installation from source:

# Clone repo 
cd ~/catkin_ws/src
git clone https://github.com/ERC-BPGC/omnibase.git

# Build the workspace
cd ..
catkin build
source devel/setup.bash

Usage:

To use this simulator use:

# To launch empty world
roslaunch omnibase_gazebo omnibase.launch

# To launch obstacle rich env
roslaunch omnibase_gazebo omnibase_world1.launch

# To test the bot run the teleop_node
rosrun omnibase_control teleop_node