# summit_xl_common
URDF description of the Summit XL and Summit XL HL, platform messages and other files for simulation.

![Image of Summit XL](http://www.robotnik.es/web/wp-content/uploads/2014/03/summit-xl-robots-moviles-robotnik_s01.jpg)

# summit_xl_common
Common packages of the Summit XL: URDF description of the Summit XL and Summit XL HL, platform messages and other files for simulation.

![Image of Summit XL](http://www.robotnik.es/web/wp-content/uploads/2014/03/summit-xl-robots-moviles-robotnik_s01.jpg)

<h2>summit_xl_description</h2>

The urdf, meshes, and other elements needed in the description are contained here. The standard camera configurations have been included (w/wo sphere_camera, w/wo axis_camera, etc.). This package includes the description of the Summit XL, Summit XL OMNI (and HL versions) mobile platforms.
The package includes also some launch files to publish the robot state and to test the urdf files in rviz.

<h2>summit_xl_localization</h2>

This package contains launch files to use the EKF of the robot_localization package with the Summit XL robots. It contains a node to subscribe to gps data and publish it as odometry to be used as an additional source for odometry.

<h2>summit_xl_navigation</h2>

This package contains all the configuration files needed to execute the AMCL and SLAM navigation algorithms in simulation.

<h2>summit_xl_pad<h2>

This package contains the node that subscribes to /joy messages and publishes command messages for the robot platform. The joystick output is feed to a mux (http://wiki.ros.org/twist_mux) so that the final command to the robot can be set by different components (move_base, etc.)

Update to real metapackage structure and pkgs
Update to real metapackage structure and pkgs