umrobot_description

umrobot_description

Capstone Design 2022, Universal Mobile Robot Platform for gazebo simulation.

3D Model Designer: Taegyeom Gim

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OS	Ubuntu 18.04
ROS	Melodic
Sensor	Realsense
	2D LiDAR

Requirement

Sensor plugin must be installed.

• Intel RealSense gazebo plugin

$ cd ~/catkin_ws/src
$ git clone https://github.com/nilseuropa/realsense_ros_gazebo.git
$ cd ~/catkin_ws && catkin_make

• velodyne_description

$ cd ~/catkin_ws/src
$ git clone https://bitbucket.org/DataspeedInc/velodyne_simulator.git
$ cd ~/catkin_ws && catkin_make

About LiDAR

Used Velodyne VLP-16 3d model, but applied RPLiDAR S1 spcification.

Nuri building 3rd floor gazebo world

2022.04.02: Updated Nuri building gazebo world(not real size).

2022.04.04: Add doors