About
Omnibase_simulator is an opensource simulator developed by a team of students from Electronics and Robotics Club at BITS Pilani, Goa Campus. Omnibase as the name might suggests simulates an omniwheeled robot. The robot can be spawned in the Gazebo physics engine.
The simulator is divided into 3 packages and 1 meta package:
- omnibase_control
- This package has script which converts the velocity published on /cmd_topic to wheel velocities.
- The velocities can be adjusted by using the .yaml files in the config folder.
- There’s another node written for teleoperation in this package.
- omnibase_gazebo
- This package has the launch files to spawn the robot.
- omnibase_description
- This package has the description files of the robot in URDF format.
- In case you want to use different bodies or change the dynamics of the present ones then edit the URDFs in this package.
For simplicity the wheels have been modeled as cylinders. This choice of modelling the wheels give us similar results as of the omniwheels. The robot is equiped with a 2-D lidar sensor for obstacle detection. The odometry is obtained from a gazebo plugin and is very accurate.