MSE6

Gazebo model and soft for droid MSE6 (also known as mouse droid) from Star Wars

Installation

On Melodic\Noetic

cd <your_workspace>/src
git clone https://github.com/MoscowskyAnton/MSE6
git clone https://github.com/CIR-KIT/steer_drive_ros -b melodic-devel
sudo apt install ros-$ROS_DISTRO-ackermann-steering-controller ros-$ROS_DISTRO-costmap-2d ros-$ROS_DISTRO-nav-core ros-$ROS_DISTRO-base-local-planner ros-$ROS_DISTRO-teb-local-planner ros-$ROS_DISTRO-map-server ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-global-planner ros-$ROS_DISTRO-hector-gazebo-plugins
catkin_make

Alternatively, install all the system dependencies using rosdep:

cd <your_workspace>
rosdep install --from-paths src --ignore-src -r -y

Launch

One droid in Gazebo

roslaunch mse6_config gazebo.launch

Two droids in Gazebo

roslaunch mse6_config multidroid_gazebo.launch

Droid amount can be set by num_droids parameter (up to 5).