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WARTHOG

Introduction

This repository is a V-REP simulation of the ClearPath Robotics Warthdog robot. This robot is an Unmanned Ground Vehicle (UGV) robot which is amphibious. It's a large all-terrain unmanned ground vehicle capable of traveling on land and in water. Both documentation and additionnal informations are available at ClearPath Robotics Warthdog.

💈 Tracker 💈

Here is a tracker for each task we have to do.

Task Responsible Progression
CAO Jules ✔️
Dynamic Modelization Quentin ✔️
Joint Configuration Gwendal ✔️
Mesh Importing Jacques ✔️
Lua/ROS interface Paul-Antoine ✔️
Buoyancy Quentin ✔️
Test on damaged terrain Gwendal ✔️

CAO

The CAO is available in the /docs/cao/. It was found on the official Warthog github repository. We assemble it on Autodesk Inventor the CAO in order to get the dimensions of the robot. Let's have a look at the CAO :

Here are the mesh object we will use in the mesh importing section :

Dynamic Modelization

Because the processing of too complex shapes can be very difficult, we have to modelize the robot with box and cylinder in order to process dynamic and collision of the robot. Here is the final dynamic modelization :

Joint Configuration

We now have to configure joint on our robot. There is one revolute joint for each of the four wheel, and one revolute joint between each of the two buggy and the main chassis. So we have six revolute joint to configure. Then we need to motorized each wheel's joint and to let free the others. Finally, we added springs between the two buggys and the main chassis in order to bring the chassis back upright.

Buoyancy

We created a scene which simulates the buoyancy of the warthog in the water.

[video]

V-REP

The WARTHOG is controlled in V-REP with ROS

video

Here are the video links :

https://www.youtube.com/watch?v=YT_t-u7yGwk

https://www.youtube.com/watch?v=WxgSTA-ixdk

How to run the simulation

Download CoppeliaSim Edu V4.0.0 rev4 : https://coppeliarobotics.com/downloads Put the directory warthog_ros, in your workspaceRos.

roscore
./vrep.sh warthog.ttt
rosrun warthog controller_node.py
rosrun key_teleop key_teleop.py key_vel:=cmd_vel

You must run the simulation by clicking on the play button on the top-right of the window. You can now move the robot with your keyboard. And test the WARTHOG in the sea.

Authors

  • Jules Berhault -
  • Quentin Brateau - Teusner 😎
  • Paul-Antoine Le Tolguennec -
  • Gwendal Priser - gwendalp 🌊

License

This project is licensed under the GNU General Public License v3.0 - see the LICENSE.md file for details