EasyNav Summit Playground: description

The model of the Robotnik Summit XL used by the EasyNav playgrounds: URDF, meshes and the ros2_control controllers, with a 3D lidar, a depth camera, an IMU and a GPS. It depends neither on Gazebo nor on EasyNav: easynav_playground_summit_worlds simulates it, and easynav_playground_summit navigates with it.

Build

From the ROS 2 workspace root:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_summit_description
source install/setup.bash

To get the URDF:

xacro $(ros2 pkg prefix easynav_playground_summit_description)/share/easynav_playground_summit_description/urdf/summit_xl.urdf.xacro

Package layout

Authors and licensing

The Summit XL model is Robotnik Automation’s: Copyright (c) 2023, Robotnik Automation S.L. The Summit XL model (urdf/, meshes/, config/) comes from robot_description and robotnik_sensors (ros2-devel branch), under the BSD 3-Clause license; see LICENSE.

It was adapted for these simulations by Francisco Martín Rico at the Intelligent Robotics Lab (Universidad Rey Juan Carlos). Only the files the simulations use were copied. Changes to the robot model, all for the simulation:

• Paths point to this package; the sensors are reduced to the ones the Summit XL carries, and the unused omni-wheel option was dropped.
• Collisions are boxes and cylinders instead of meshes (mesh-vs-terrain contacts overflowed the physics engine), and the wheels have lower sideways friction, so the skid steering turns as commanded (wheel_separation_multiplier in config/summit_controllers.yaml is calibrated against Gazebo’s ground truth).
• The ZED’s two RGB cameras are not simulated (nothing uses them); the depth camera runs at quarter resolution and 10 Hz.
• The IMU has noise and its frame id, the GPS runs at 5 Hz, and the odometry has no zero variances: filters need realistic covariances.

Changelog for package easynav_playground_summit_description

0.5.0 (2026-10-08)

• First release, in the easynav_playgrounds repository: the Robotnik Summit XL model (URDF, meshes and controllers), without Gazebo or EasyNav dependencies
• Contributors: Francisco Martín Rico, Juan Sebastián Cely Gutierrez