summit_xl_sim

Packages for the simulation of the Summit XL

This packages contains:

summit_xl_gazebo

Launch files and world files to start the models in gazebo

summit_xl_sim_bringup

Launch files that launch the complete simulation of the robot/s

Simulating Summit XL

This simulation has been tested using Gazebo 9 version.

Installation and run instruccions

1. Install the following dependencies:

To facilitate the installation you can use the vcstool:

sudo apt-get install -y python3-vcstool

2. Create a workspace and clone the repository:

mkdir catkin_ws
cd catkin_ws

Install the latest version of the simulation:

vcs import --input https://raw.githubusercontent.com/RobotnikAutomation/summit_xl_sim/melodic-devel/repos/summit_xl_sim_devel.repos

Install the ROS dependencies

rosdep install --from-paths src --ignore-src --skip-keys="summit_xl_robot_control marker_mapping robotnik_locator robotnik_pose_filter robotnik_gazebo_elevator" -y

3. Compile:

catkin build
source devel/setup.bash

ONLY: if catkin build doesn't work: The package catkin-tools is need to compile with catkin build:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install python-catkin-tools

4. Launch Summit XL simulation (1 robot by default, up to 3 robots):

Summit XL:

roslaunch summit_xl_sim_bringup summit_xl_complete.launch

Summit XL with Trossen Arm

roslaunch summit_xl_sim_bringup summit_xl_complete.launch default_xacro:=summit_xl_tix_std.urdf.xacro launch_arm_a:=true arm_manufacturer_a:=trossen arm_model_a:=vx300s

Launch moveit to plan trajectories:

ROS_NAMESPACE=robot roslaunch summit_xl_vx300s_moveit_config demo.launch

Summit XL with Kinova Arm

roslaunch summit_xl_sim_bringup summit_xl_complete.launch default_xacro:=summit_xl_gen_std.urdf.xacro launch_arm_a:=true arm_manufacturer_a:=kinova arm_model_a:=j2s7s300 amcl_and_mapserver_a:=false move_base_robot_a:=false

Note: in this configuration the robot has not laser, therefore the amcl is turned off. When Rviz is opened, change robot_map to robot_odom in fixed_frame in order to visualize the robot.

or Summit XL Steel:

roslaunch summit_xl_sim_bringup summit_xls_complete.launch

Optional general arguments:

<arg name="launch_rviz" default="true"/>
<arg name="gazebo_world" default="$(find summit_xl_gazebo)/worlds/summit_xl_office.world"/>
<arg name="omni_drive" default="false"/> (only for Summit XL)
<arg name="use_gpu_for_simulation" default="false"/>

By default the Gazebo plugin Planar Move to ignore the physics of the wheels + the skid steering kinematics. In case you want to disable this plugin, set the following arguments:

roslaunch summit_xl_sim_bringup summit_xl_complete.launch \
  ros_planar_move_plugin:=false \
  omni_drive:=false

Optional robot arguments:

<!--arguments for each robot (example for robot A)-->
<arg name="id_robot_a" default="robot"/>
<arg name="launch_robot_a" default="true"/>
<arg name="map_file_a" default="willow_garage/willow_garage.yaml"/>
<arg name="localization_robot_a" default="false"/>
<arg name="gmapping_robot_a" default="false"/>
<arg name="amcl_and_mapserver_a" default="true"/>
<arg name="x_init_pose_robot_a" default="0" />
<arg name="y_init_pose_robot_a" default="0" />
<arg name="z_init_pose_robot_a" default="0" />
<arg name="xacro_robot_a" default="summit_xl_std.urdf.xacro"/>

• Example to launch simulation with 3 Summit XL robots:

roslaunch summit_xl_sim_bringup summit_xl_complete.launch \
  launch_robot_b:=true \
  launch_robot_c:=true

• Example to launch simulation with 1 Summit XL robot with navigation:

roslaunch summit_xl_sim_bringup summit_xl_complete.launch \
  move_base_robot_a:=true \
  amcl_and_mapserver_a:=true

Enjoy! You can use the topic ${id_robot}/robotnik_base_control/cmd_vel to control the Summit XL robot or send simple goals using /${id_robot}/move_base_simple/goal

Docker usage

In order to run this simulation you will need nvidia graphical accelation

Installation of required files

• docker
• nvidia-docker
• nvidia-drivers

Usage

git clone https://github.com/RobotnikAutomation/summit_xl_sim.git
cd summit_xl_sim
git checkout melodic-devel
docker/simulation-in-container-run.sh

Selecting the robot model

You can select the robot, the launch file of package using the optional arguments on launch By default the selected robot is summit_xl

docker/simulation-in-container-run.sh --help

ROBOTNIK AUTOMATION S.L.L. 2021

Simulation of SUMMIT XL using docker

Usage:
docker/simulation-in-container-run.sh [OPTIONS]

Optional arguments:
 --robot -r ROBOT       Select robot to simulate
                        Valid robots:
                            summit_xl summit_xl_gen summit_xls
                        default: summit_xl

 --launch -l            Select launch file
                        default: summit_xl_complete.launch

 --package -p           Select ros package
                        default: summit_xl_sim_bringup

 --ros-port -u PORT     Host ros port
                        default: 11345

 --gazebo-port -g PORT  Host ros port
                        default: 11345

 -h, --help             Shows this help

Summit XL GEN

docker/simulation-in-container-run.sh --robot summit_xl_gen

Summit XLS

docker/simulation-in-container-run.sh --robot summit_xls

Manual Build

If you wish to build manually the image without the use of the script use one the following commands:

Optiona A

cd docker
docker build -f Dockerfile ..

Option B

docker build -f docker/Dockerfile .

Notes

• This is docker requires a graphical interface
• The ros master uri is accesible outside the container, so in the host any ros command should work
• You could also run a roscore previous to launch the simulation in order to have some processes on the host running
• if you want to enter on the container use the following command in another terminal

docker container exec -it summit_xl_sim_instance bash

• In order to exit you have to 2 options

1. Close gazebo and rviz and wait a bit
2. execute in another terminal:

docker container rm --force summit_xl_sim_instance