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Robotnik Automation Guardian

ROS Software Maintainer: Román Navarro

Guardian is a modular robot with high mobility built by Robotnik Automation. In this page you can find the different drivers that we have implemented and all the necessary for the Guardian robot simulation (including teleoperation and AMCL/SLAM navigation).

Contents

  1. Robotnik Automation Guardian
    1. Package Summary
    2. Simulation Library Overview
      1. Basic Configuration
      2. Control
      3. High-Level Capabilities
      4. Sensor Drivers
    3. Guardian Mobile Manipulators
      1. G-WAM (Guardian + Barret WAM Arm)
      2. G-BALL (Guardian + Schunk Powerball Lightweight Arm)
    4. Related Repositories

Package Summary

In this page you can find the different drivers that we have implemented and all the necessary for the Guardian robot simulation (including pad teleoperation and AMCL/SLAM navigation).

Simulation Library Overview

Guardian libraries are implemented in the guardian-ros-pkg stack. For an outline of these libraries, please see the tables below.

1. Basic Configuration

Capability

ROS package/stack

Robot model (URDF)

guardian_description

2. Control

Component

ROS package/stack

Controller

guardian_controller

Odometry

guardian_odometry

3. High-Level Capabilities

Component

ROS package/stack

Teleop

guardian_pad_sim

Navigation

guardian_2dnav

4. Sensor Drivers

The Guardian robot could be equiped with a laser for receive the information about its environment. For Hokuyo and SICK laser drivers, see laser_drivers.

Note: In the simulation, we suposed that this laser is a Hokuyo URG-04LX.

Guardian Mobile Manipulators

To run this modifications you need to download and compile previously some additional packages.

1. G-WAM (Guardian + Barret WAM Arm)

2. G-BALL (Guardian + Schunk Powerball Lightweight Arm)

2022-05-28 12:23