VehicleLibrary

Vehicle library is a xacro library example for vehicles available for uwsim when Configuring and creating scenes. This library creates some macros for specific vehicle configurations that can be easily added to any scene. We recommend to create you own vehicle library with the common vehicles you use in your simulations such as the girona500 with the ARM5. So you just have to specify its parameters once.

In the example vehicleLibrary.xacro we have created an girona500 configuration example, and a interfaces example. We left pose arguments to be able to attach it anywhere in the scene, and initial joints to start the intervention in the desired position.

• example_g500ARM5: This macro creates a simplified girona500 with the ARM5 arm a camera and a multibeam (using the deviceLibrary macros). Requires x, y, z, roll, pitch, yaw, **initialJoints.
• example_g500ARM5_ifaces: Creates a set of ROS interfaces for the example girona500ARM5 vehicle. It creates a RosOdomTOPAT to move the vehicle, TF publisher, subscriber and publisher for the arm movements and interfaces for the two previously added sensors using deviceLibrary interface macros.

Creating this macros allows us to add the vehicle to any scene just calling the macro for the vehicle and the macro for the interface.