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scuttle_model

Provides a user customizable wrapper for scuttle_desciption that allows you to add your own components to SCUTTLE.

Dependencies

The configurations in this repository assume you have the following prerequisites installed on the device on which you want to run this code. That device might be an Ubuntu machine or a physical SCUTTLE using Raspberry Pi OS.

  1. ROS Noetic with the ros-noetic-navigation, ros-noetic-robot and ros-noetic-tf2 packages.
  2. A working ROS workspace.
  3. The scuttle_description package installed in your workspace.

Usage

To use the scuttle_model package you need to take the following steps

  1. Clone this repo into the src directory of your ROS workspace
  2. Create a new URDF file in the urdf directory. Add your own components to this new URDF file.
  3. Add a link to your URDF file in the urdf/scuttle.xacro file.
  4. Build your workspace using catkin_make

Once you have taken these steps you can run your model in Gazebo, for instance using one of the worlds defined in the scuttle_gazebo repository.