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Chasi - an ARTI product

Software for launching the driver and simulation for the Chasi.

License

For all files in this repository: Copyright 2018-2020 by ARTI - Autonomous Robot Technology GmbH. All rights reserved.

Contents

This repository contains several ROS packages:

  • arti_chasi_gazebo: gazebo simluation of the robot incuding different sensor configurations.
  • arti_chasi_mark2: provides the URDF of the robot as well as launch files to spawn the URDF and the driver of the robot.
  • arti_convert_ackermann: converts command velocity in an ackerman message. !! Important this does not calculate ackermann messages instead it is a conversion of message. Mapping is as follows: Liner -> Linear, Rotation -> Steering angular.

Use

The launch files for simlation are in the arti_chasi_gazebo ROS package. To start the simulation with the sick LMS1000 on the robot run:

roslaunch arti_chasi_gazebo gazebo_with_sick.launch

The launch files for the robot base are in the arti_chasi_mark2 ROS package. To start the robot base run:

roslaunch arti_chasi_mark2 arti_chasi_mark2_base.launch

Prerequisites

Installation

  • Install Ubuntu, ROS, and Gazebo.
  • Create a catkin workspace (see Creating a workspace for catkin).
  • Clone this repository into the workspace's src directory.
  • Clone other, required repositories into the src directory:
  • Execute rosdep install -i --from-paths src from the workspace to install ROS dependencies.
  • Execute catkin_make from the workspace to build all packages in the workspace.

Additional information

To clone all the required repositories and keep them up to date, we recommend using wstool:

sudo apt-get install python-wstool
cd catkin_ws/src
wstool init  # creates .rosinstall file
wstool scrape  # searches for untracked VCS directories
wstool up  # updates (pulls) all repositories

To avoid having to enter git credentials multiple times, it is useful to enable credential caching:

git config --global credential.helper cache