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Adding x2 files.
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‎x2_control/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(x2_control)
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find_package(catkin REQUIRED COMPONENTS roslaunch)
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catkin_package()
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roslaunch_add_file_check(launch/control.launch)
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roslaunch_add_file_check(launch/teleop.launch)
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install(DIRECTORY config launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)

‎x2_control/config/control.yaml

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x2_joint_publisher:
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type: "joint_state_controller/JointStateController"
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publish_rate: 50
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x2_velocity_controller:
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type: "diff_drive_controller/DiffDriveController"
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left_wheel: ['front_left_wheel', 'rear_left_wheel']
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right_wheel: ['front_right_wheel', 'rear_right_wheel']
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publish_rate: 50
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pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
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twist_covariance_diagonal: [0.001, 0.001, 0.001, 1000000.0, 1000000.0, 0.03]
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cmd_vel_timeout: 0.25
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k_l: 0.1
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k_r: 0.1
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# Odometry fused with IMU is published by robot_localization, so
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# no need to publish a TF based on encoders alone.
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enable_odom_tf: false
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# Wheel separation and radius multipliers
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wheel_separation_multiplier: 1.5 # default: 1.0
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wheel_radius_multiplier : 1.0 # default: 1.0
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# Velocity and acceleration limits
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# Whenever a min_* is unspecified, default to -max_*
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linear:
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x:
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has_velocity_limits : true
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max_velocity : 2.0 # m/s
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has_acceleration_limits: true
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max_acceleration : 20.0 # m/s^2
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angular:
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z:
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has_velocity_limits : true
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max_velocity : 4.0 # rad/s
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has_acceleration_limits: true
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max_acceleration : 25.0 # rad/s^2
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‎x2_control/config/robot_localization.yaml

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#Configuation for robot odometry EKF
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#
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frequency: 50
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odom0: /x2_velocity_controller/odom
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odom0_config: [false, false, false,
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false, false, false,
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true, true, true,
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false, false, true,
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false, false, false]
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odom0_differential: false
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imu0: /imu/data
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imu0_config: [false, false, false,
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true, true, true,
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false, false, false,
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true, true, true,
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false, false, false]
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imu0_differential: false
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odom_frame: odom
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base_link_frame: base_link
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world_frame: odom

‎x2_control/config/teleop.yaml

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# Teleop configuration for PS3 Navigation joystick.
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teleop_twist_joy:
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axis_linear: 1
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scale_linear: 0.4
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scale_linear_turbo: 2.0
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axis_angular: 0
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scale_angular: 1.4
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enable_button: 8
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enable_turbo_button: 10
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joy_node:
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deadzone: 0.1
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autorepeat_rate: 20

‎x2_control/config/teleop_ps4.yaml

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# Teleop configuration for PS4 joystick using the x-pad configuration.
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teleop_twist_joy:
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axis_linear: 1
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scale_linear: 0.4
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scale_linear_turbo: 2.0
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axis_angular: 0
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scale_angular: 1.4
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enable_button: 4
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enable_turbo_button: 5
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joy_node:
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deadzone: 0.1
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autorepeat_rate: 20
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dev: /dev/input/ds4x

‎x2_control/config/twist_mux.yaml

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topics:
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- name : joy
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topic : joy_teleop/cmd_vel
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timeout : 0.5
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priority: 10
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- name : bt_joy
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topic : bluetooth_teleop/cmd_vel
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timeout : 0.5
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priority: 9
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- name : interactive_marker
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topic : twist_marker_server/cmd_vel
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timeout : 0.5
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priority: 8
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- name : external
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topic : cmd_vel
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timeout : 0.5
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priority: 1
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locks:
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- name : e_stop
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topic : e_stop
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timeout : 0.0
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priority: 255

‎x2_control/launch/control.launch

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<launch>
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<rosparam command="load" file="$(find x2_control)/config/control.yaml" />
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<node name="controller_spawner" pkg="controller_manager" type="spawner"
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args="x2_joint_publisher x2_velocity_controller" />
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<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization">
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<rosparam command="load" file="$(find x2_control)/config/robot_localization.yaml" />
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</node>
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<node pkg="twist_mux" type="twist_mux" name="twist_mux">
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<rosparam command="load" file="$(find x2_control)/config/twist_mux.yaml" />
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<remap from="cmd_vel_out" to="x2_velocity_controller/cmd_vel"/>
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</node>
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</launch>
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‎x2_control/launch/teleop.launch

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<launch>
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<arg name="joy_dev" default="/dev/input/js0" />
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<arg name="joystick" default="true" />
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<group ns="bluetooth_teleop" if="$(arg joystick)">
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<group unless="$(optenv X2_PS3 0)" >
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<rosparam command="load" file="$(find x2_control)/config/teleop_ps4.yaml" />
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</group>
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<group if="$(optenv X2_PS3 0)" >
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<rosparam command="load" file="$(find x2_control)/config/teleop.yaml" />
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<param name="joy_node/dev" value="$(arg joy_dev)" />
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</group>
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<node pkg="joy" type="joy_node" name="joy_node" />
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<node pkg="teleop_twist_joy" type="teleop_node" name="teleop_twist_joy"/>
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</group>
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<node pkg="interactive_marker_twist_server" type="marker_server" name="twist_marker_server"/>
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</launch>

‎x2_control/package.xml

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<?xml version="1.0"?>
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<package>
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<name>x2_control</name>
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<version>0.0.1</version>
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<description>Controllers for X2</description>
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<license>BSD</license>
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<author email="[email protected]">Carlos Aguero</author>
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<author email="[email protected]">Mike Purvis</author>
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<maintainer email="[email protected]">Carlos Aguero</maintainer>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roslaunch</build_depend>
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<run_depend>controller_manager</run_depend>
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<run_depend>interactive_marker_twist_server</run_depend>
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<run_depend>diff_drive_controller</run_depend>
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<run_depend>joint_state_controller</run_depend>
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<run_depend>joy</run_depend>
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<run_depend>robot_localization</run_depend>
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<run_depend>teleop_twist_joy</run_depend>
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<run_depend>topic_tools</run_depend>
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<run_depend>twist_mux</run_depend>
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<export>
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</export>
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</package>

‎x2_description/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(x2_description)
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find_package(catkin REQUIRED COMPONENTS roslaunch)
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catkin_package()
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roslaunch_add_file_check(launch/description.launch)
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install(DIRECTORY meshes launch urdf
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(PROGRAMS scripts/env_run
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)

‎x2_description/launch/description.launch

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<launch>
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<arg name="config" default="base" />
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<param name="robot_description"
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command="$(find x2_description)/scripts/env_run
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$(find x2_description)/urdf/configs/$(arg config)
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$(find xacro)/xacro $(find x2_description)/urdf/x2.urdf.xacro
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--inorder" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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</launch>

‎x2_description/meshes/bridge-plate.stl

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‎x2_description/meshes/camera-beam.stl

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‎x2_description/meshes/camera-bracket.stl

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‎x2_description/meshes/jackal-base.stl

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‎x2_description/meshes/jackal-fenders.stl

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‎x2_description/meshes/jackal-wheel.stl

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‎x2_description/meshes/novatel-smart6.stl

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‎x2_description/meshes/sick-lms1xx-bracket.stl

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‎x2_description/meshes/stereo-camera-beam.stl

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‎x2_description/meshes/stereo-camera-bracket.stl

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