COD-Robotics-2020

Simulation package for the 2020 NASA Lunabotics competition.

URDF file ported from Fusion360 via https://github.com/yanshil/Fusion2PyBullet. Prereqs:

Place the heightmap folder into .gazebo/models

sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers
sudo apt-get install ros-noetic-diff-drive-controller
sudo apt-get install ros-noetic-robot-state-publisher

Controller support prereqs

sudo apt-get install xboxdrv

2. ROS joy : http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick

Starting the simulation with controller support

1. roslaunch simpleMod spawn_robot.launch
2. rosrun joy joy_node
3. rosrun simpleMod main.py