Robot Customizer Tutorials

The Robot Customizer ROS package by Clearpath Robotics provides an easy-to-use interface for adding sensors to your robot in the real world or in simulation. The usage interface consists of environment variables which can be set to add sensors visually to your robot’s model, as well as to enable the launching of the sensors’ respective drivers.

The sensors supported in this package are commonly used by Clearpath Robotics to customize mobile robotic platforms.

The example files used throughout this tutorial can be found here.

Overview

• Introduction
• Supported Sensors and Environment Variables
  • 2D Lasers
  • 3D Lasers
  • GPS
  • IMU
  • Cameras
  • Arms

Setting Up Your Robot

• Prerequisites
  • Real Robot and Sensors
  • Simulated Robot and Sensors
• Installing
  • Installing the Debian Package
  • Installing from Source
• Setting Up Your Robot’s Model
  • URDF
  • Launch
• Including Sensors’ Drivers Launch Files

Using Environment Variables

• Setting Environment Variables
• Visualizing with Rviz

Simulating Your Robot

• Simulating with Gazebo