Explorer on wheelchair

View robot

To view the robot, open a terminal and launch the view_explorer_on_wheelchair.launch.py file from the explorer_on_wheelchair package.

ros2 launch explorer_on_wheelchair view_explorer_on_wheelchair.launch.pIn the

In the field Fixed Frame change odom by chassis to see the Explorer on the wheelchair

With the joint_state_publisher_gui you can now change the position of every joint.

../_images/view_simulation.png

Simulation using Gazebo Fortress

Cartesian control

To launch the simulation using Gazebo with cartesian control, launch the simulation.launch.py file from the explorer_on_wheelchair package.

ros2 launch explorer_on_wheelchair simulation.launch.py

Tip

If you don’t want to launch RVIZ, add gui:=false when launching the simulation

Tip

If you don’t a 3D mouse, add spacenav:=false when launching the simulation

To control the robot, you can use the GUI :

../_images/GUI_cartesian.png

or 3D mouse.

And to control the wheelchair and the patient field of view, you can use the joysticks of an xbox one controller.