TREX
This contains all files need to build, run, and simulate the Virginia Tech unmanned ground vehicle, TREX.
- trex_control : Control configuration for the TREX
- trex_description : Robot description for both the real robot and simulation
- trex_gazebo : Simulation demo for the TREX
- trex_maps : Pre-built maps for use in TREX simulation
- trex_navigation : Navigation configurations and demos
- trex_sawyer_moveit_config : MoveIt configurations and demos using the Rethink Robotic arm Sawyer
- trex_ur5_moveit : MoveIt configurations and demos using the Universal Robotics arm UR5
To use these packages, install the following into your catkin workspace and catkin make
- cd ~/catkin_ws/src/
- git clone https://github.com/johodges/trex
- git clone https://github.com/johodges/sawyer_gazebo
- git clone https://github.com/RethinkRobotics/sawyer_robot
- git clone https://github.com/RethinkRobotics/intera_sdk
- git clone https://github.com/RethinkRobotics/intera_common
- git clone https://github.com/RethinkRobotics/sawyer_moveit
- cd ~/catkin_ws && catkin_make
To run the TREX by itself
- roslaunch trex_gazebo playpen_trex.launch
To run the TREX with the UR5 arm
- roslaunch trex_gazebo playpen_ur5.launch
To run the TREX with the Sawyer arm
- roslaunch trex_gazebo playpen_sawyer.launch