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Contains RViz configuration files, URDFs, and meshes. Textured and textureless variants. Textureless variant does not have sensors attached.

Package for Gazebo Simulations. Contains world and their model files. Script for killall Gazebo launch.

Models

• maze
• maze_short_textured
• maze_textured

Launch

• default.launch - Main launch file for launching Gazebo and RViz
  • model (default:robot_textured),robot_texturesless
  • world (default:empty),maze,contact_stability
  • rviz_config (default:sensors),mapping,navigation,robot
• teleop.launch - Keyboard teleop controls for driving the robot around

roslaunch macbot_gazebo default.launch world:=maze rviz_config:=navigation

Navigation package utilizing ROS navigation stack. Contains configuration / parameter files for move_base package and maps. Launch files with_macbot are specific for the actual robot. The ones without are used for Gazebo simulated environments.

Maps

• enviro (mapped environment from ydlidar)
• gmap_map (maze)

Launch

• amcl_macbot.launch
  • map_arg (default:enviro)
• amcl.launch
  • map_arg (default:gmap_map)
• gmap_macbot.launch
• gmap.launch
• localization.launch
  • map_arg (default:gmap_map)

Physical package for interfacing with the MacBot.

Launch

• diff_drive.launch - diff_drive node required for driving MacBot.

Nodes

• macbot_node.py - Communicating with the various nodes on the CAN bus.
• tf_broadcaster.py - Broadcasting the transforms of the left and right motorized wheels.

Package for launching one of the various sensors on the MacBot.

Launch

• camera.launch - Intel RealSense
• lidar.launch - ydlidar
  • pub_tf (default:false) - Publishes the TF link betweenodom andbase_link.
• sensors.launch - Launch all sensors

Nodes

• pose_odom.py - Publishesnav_msgs/Odometry messages fromgeometry_msgs/PoseStamped messages outputted bylaser_scan_matcher