Add new simulator with new bot

simulation-2015/README.md

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+# agv_simulation
+
+Simulator for new bot.
+
+Sensors added and the topics they publish to:
+*	Camera : /eklavya/image_raw
+*	Lidar  : /eklavya/laser/scan
+*	IMU   :  /eklavya/imu
+*	GPS   : /eklavya/gps/fix
+
+
+Files where respective sensor topics are defined:
+*	Camera : eklavya5_description/robot/chasisss.urdf.xacro
+*	Lidar: eklavya5_description/robot/chasisss.urdf.xacro
+*	IMU : eklavya5_description/sensors/imusensor_gazebo.urdf.xacro
+*	GPS : eklavya5_description/sensors/hector_gps_gazebo.urdf.xacro
+
+
+Note: Plugin for GPS is a custom plugin, hence the package "eklavya5_gazebo_plugins" has to be built for the GPS to work.
+
+
+The simulator is launch by:
+
+roslaunch eklavya5_gazebo eklavya_igvc_final.launch
+

simulation-2015/eklavya5_description/launch/description.launch

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+<?xml version="1.0"?>
+<launch>
+
+<param name="robot_description"
+         textfile="$(find eklavya5_description)/robots/chasisss.urdf" />
+ <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+        <param name="publish_frequency" type="double" value="30.0" />
+    </node>
+</launch>

simulation-2015/eklavya5_description/launch/display.launch

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+<?xml version="1.0"?>
+<launch>
+  <arg
+    name="model" />
+  <arg
+    name="gui"
+    default="True" />
+  <param
+    name="robot_description"
+    textfile="$(find eklavya5_description)/robots/chasisss.URDF" />
+  <param
+    name="use_gui"
+    value="$(arg gui)" />
+  <node
+    name="joint_state_publisher"
+    pkg="joint_state_publisher"
+    type="joint_state_publisher" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find eklavya5_description)/urdf.rviz" />
+</launch>

simulation-2015/eklavya5_description/launch/gazebo.launch

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+<?xml version="1.0"?>
+<launch>
+  <include
+    file="/opt/ros/indigo/share/gazebo_ros/launch/empty_world.launch" />
+  <param name="robot_description" textfile="$(find eklavya5_description)/robots/chasisss.urdf"/>
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 chassis base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find eklavya5_description)/robots/chasisss.urdf -urdf -model chasisss"
+    output="screen" />
+  <include
+    file="$(find pr2_controller_manager)/controller_manager.launch" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

simulation-2015/eklavya5_description/launch/view_model.launch

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+<?xml version="1.0"?>
+<launch>
+  <arg name="front_laser" default="true" />
+
+  <!-- Standalone launcher to visualize the robot model. -->
+  <!--<include file="$(find eklavya5_description)/launch/description.launch"/> -->
+
+  <param name="use_gui" value="true" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find eklavya5_description)/urdf.rviz" />
+</launch>

simulation-2015/eklavya5_description/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>eklavya5_description</name>
+  <version>0.0.1</version>
+  <description>chasissssss welded.SLDASM</description>
+  <maintainer email="[email protected]">Manuj Agrawal</maintainer>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>gazebo</build_depend>
+  <build_depend>gazebo_ros</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>gazebo</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <author>me</author>
+  <license>BSD</license>
+</package>