Pallet Truck bringup

This package handles initialization and status of spawned robots.

• gazebo.launch.py - Spawns robot, handles robot_state_publisher, robot_description
• keyboard_steering.launch.py - keyboard steering.
• multiple_robot_spawn.launch.py - contains configurable list of robots you spawn in the sim.
  
• sim.launch.py - main launch file for single robot. Make sure Gazebo is running; control, twist_mux, and keyboard_steering are all launched.
• rviz.launch.py - runs RViz

The package focuses on pallet_truck and forklift for now, but could be made modular to spawn other types of robots.

Configuring and spawning robots inside the sim

Below is the structure which we use to spawn robots inside of the sim. Please read these notes before setting up a new or editing a robot.

Here is the information from the table presented as a markdown list:

Robot Spawning Attributes

• namespace
  • Description: Used to differentiate between multiple robots. Follows the format robot_agent_N, where N is the robot ID.
  • Example: "robot_agent_1"
• initial_pose_x
  • Description: The robot's initial x-coordinate position. Float value wrapped as a string.
  • Example: "10.0"
• initial_pose_y
  • Description: The robot's initial y-coordinate position. Float value wrapped as a string.
  • Example: "1.0"
• robot_type
  • Description: Selects the robot mesh or appearance. Options are "pallet_truck" or "forklift".
  • Example: "pallet_truck"
• aruco_id
  • Description: Sets the ID shown on the robot's ArUco marker. Must match the ID in the namespace.
  • Example: "1" if namespace ID is 1

Would you like me to use these attributes to create a sample robot configuration?

Example robot setup:
{
    "namespace": "robot_agent_1", 
    "initial_pose_x":"10.0", 
    "initial_pose_y":"1.0", 
    "robot_type":"pallet_truck", 
    "aruco_id":"1"
}

Automatically generated parameter files

Some parameter files are automatically generated for the pallet_truck_bringup package. The generation scripts can be found in the config_generation/ directory. The automatically generated files include the nav2_params.yaml, gz_bridge.yaml and more. To look at all the automatically generated files, build the workspace and the generated files will be printed in the terminal or look manually in the config_generation/generate.py.