grasshopper_description

Description

The grasshopper_description ROS2 package for simulating a 4-WD robot called "GrassHopper". The simulated robot consist of 2D-Lidar, Depth Camera, and IMU sensor plugin.

Dependencies

• Ubuntu 22.04
• ROS2

Installation Instructions

1. First, clone this repository inside the src folder of your ROS 2 workspace (replace ros2_ws with the name of your ROS 2 workspace):

   cd ~/ros2_ws/src
   git clone https://github.com/dhaval-lad/grasshopper_description.git

2. Change the path of the mesh file in grass_hopper.urdf.xacro. Mesh files are located in meshesfolder inside the package. Replace path with the path on your system in lines (56, 91,99,131,139,175,183,219,227,263,271).
3. Next, build your ROS 2 workspace to install the package (replace ros2_ws with the name of your ROS 2 workspace):

   cd ~/ros2_ws
   colcon build --packages-select grasshopper_description

Usage Instructions

To verify that everything is working:

1. Run the following command in the terminal to visualize the GrassHopper robot in RViz2:

   ros2 launch grasshopper_description description.launch.py 

Contributors

We extend our gratitude to the incredible contributors who played a vital role in bringing the GrassHopper robot to life:

• Mayank Khandelwal – Crafted detailed and precise mesh files for every component of the GrassHopper robot, laying the foundation for realistic visualization and simulation.

• Dhaval Lad – Developed the grasshopper_description ROS2 package, enabling seamless simulation of the GrassHopper robot in Gazebo and bringing it one step closer to real-world deployment.

License

This project is licensed under the Apache License, Version 2.0, January 2004. See http://www.apache.org/licenses/ for more details.