ASU ROAR Simulation

Dependencies

ROAR-Msgs

Setup

sudo apt install ros-noetic-urdf
sudo apt install ros-noetic-hector-gazebo-plugins
sudo apt install ros-noetic-robot-state-publisher
sudo apt install ros-noetic-controller-manager
sudo apt-get install ros-noetic-gazebo-ros-pkgs 
sudo apt-get install ros-noetic-gazebo-ros-control
sudo apt-get install ros-noetic-ros-controllers

To pull mars_yard

curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
sudo apt-get update
sudo apt-get install git-lfs

Then go to the repositries directory and type:

git lfs install
git lfs pull

Running

roslaunch roar spawn.launch

Published Topics

IMU

/imu (sensor_msgs/imu)

Encoders

/joint_states (sensor_msgs/JointState)

GPS

/gps (sensor_msgs/NavSatFix)