Modelling_rover_with_arm

Modelling of rover_with_arm using solidworks and ROS Gazebo

Rocker Bogie mechanism

Rover_Bogie-Rocker_Video_AdobeExpress.mp4

INSTRUCTIONS TO LAUNCH SIMULATION IN GAZEBO

PACKAGE NAME ""VISION1 ###To run the rover in empty world

NEW TERMINAL

cd catkin_ws
catkin_make clean && catkin_make
source devel/setup.bash
roslaunch vision1 vision1.launch

New terminal(ctrl+shift+t) to run the python code to control the rover

cd src/ironman/
python3 teleop_vision1.py

New terminal(ctrl+shift+t) to run the python code for autonomous manipulator

python3 mani_grip.py

To run the rover in mars terrain#

Go to vision1 package > launch > empty_world.launch> CHANGE THE PATH TO "$(find vision1)/launch/mars_curiosity.world" TO RUN IN MARS TERRAIN

NEW TERMINAL

cd catkin_ws
catkin_make clean && catkin_make
source devel/setup.bash
roslaunch vision1 vision1.launch

New terminal(ctrl+shift+t) to run the python code to control the rover#

cd src/ironman/
python3 teleop_vision1.py

New terminal(ctrl+shift+t) to run the python code for autonomous manipulator

python3 mani_grip.py

New terminal(ctrl+shift+t)

rviz