Leo Rover Vanilla

Setup

1. Create new ROS workspace

mkdir -p ~/leo_ws/src

2. Clone

cd ~/leo_ws/src
git clone https://github.com/PUT-UGV-Team/leo-vanilla.git

3. Build

cd ..
catkin_make

4. Source workspace

source devel/setup.bash

5. Run Gazebo simulation

roslaunch leo_gazebo leo_empty_world.launch

6. Open another terminal and run rviz

roslaunch leo_viz rviz.launch

Topics

Set velocity (message type: cmd_vel)

• /leo/leo_velocity_controller/cmd_vel

Odometry information:

• /leo/leo_velocity_controller/odom

Leo robot parameters and updates:

• /leo/leo_velocity_controller/parameter_descriptions
• /leo/leo_velocity_controller/parameter_updates

Dependencies

• Ubuntu 18.04
• ROS Melodic Morenia