This contains all files need to build, run, and simulate the Virginia Tech unmanned ground vehicle, TREX.

• trex_control : Control configuration for the TREX
• trex_description : Robot description for both the real robot and simulation
• trex_gazebo : Simulation demo for the TREX
• trex_maps : Pre-built maps for use in TREX simulation
• trex_navigation : Navigation configurations and demos
• trex_sawyer_moveit_config : MoveIt configurations and demos using the Rethink Robotic arm Sawyer
• trex_ur5_moveit : MoveIt configurations and demos using the Universal Robotics arm UR5

To use these packages, install the following into your catkin workspace and catkin make

• cd ~/catkin_ws/src/
• git clone https://github.com/johodges/trex
• git clone https://github.com/johodges/sawyer_gazebo
• git clone https://github.com/RethinkRobotics/sawyer_robot
• git clone https://github.com/RethinkRobotics/intera_sdk
• git clone https://github.com/RethinkRobotics/intera_common
• git clone https://github.com/RethinkRobotics/sawyer_moveit
• cd ~/catkin_ws && catkin_make

To run the TREX by itself

• roslaunch trex_gazebo playpen_trex.launch

To run the TREX with the UR5 arm

• roslaunch trex_gazebo playpen_ur5.launch

To run the TREX with the Sawyer arm

• roslaunch trex_gazebo playpen_sawyer.launch