This repository contains the ROS packages needed for the simulation of "Boxbot", a simple dual-armed robot consisting of two WidowX robotic arms attached to a simple "torso". Included is a URDF model of the robot, along with corresponding ros-control and Gazebo interfaces.
Currently a work-in-progress.
The software was developed and tested in:
- Ubuntu 16.04 LTS
- ROS Kinetic
- Gazebo 7.9
This package requires the University of Patras Robotics Group's Gazebo mimic joint plugin.
To install the current version of the repository to your machine, change directory into the desired catkin workspace source directory and clone the repository.
To launch a model of the robot in RViz from the top level directory, use:
roslaunch boxbot_description rviz.launch
Currently, you will manually have to add the robot model to the RViz window.
To launch an empty world with only the Boxbot robot in it, use:
roslaunch boxbot_gazebo empty_world.launch
If you want to edit the URDF model, only modify the files that end with .urdf.xacro or .gazebo, found in the boxbot_description/robots and boxbot_description/urdf folders. Generally, you will not want to edit the .urdf files directly, as they are auto-generated and are also harder to sift through than the subcomponent files.
After you are done editing, you can regenerate the complete urdf model by switching into the boxbot_description package directory, and running the autogeneration script:
./urdf_regen.sh
All new packages/files use the BSD 3-clause license presented in the main license file, and are Copyright (C) University of Cincinnati.
Exceptions include the whole of boxbot_description/meshes and some of the contents of boxbot_description/urdf, which are based on files from Interbotix's widowx_arm repository. Copyright for these are held by others, as reflected in the commit history for the original files. All modifications are Copyright (C) University of Cincinnati