Simulation

In order to test out the robot, we exported the 3D model into gazebo, along with a custom built testing ground.

All source files are in /models/gazebo.

TennisBot v1

In order to keep our simulation simple and smooth, we exported a simplified version of the TennisBot using solidworks’ URDF exporter. This simplified verion has a simple geometry while maintaining the exact dimensions of the robot.

^Here it is running in RViz

This model has a total of 5 joints,

• 1 joint for tilt control
• 1 joint per wheel
• 1 joint per trigger

Each joint can be independently controlled (as shown above).

All the source files can be found in /models/gazebo/tennisbot_support.

Launch in RViz

roslaunch tennisbot_support display.launch

Launch in Gazebo

roslaunch tennisbot_support gazebo.launch

Tennis Court

In order to test out our robot design, we first created a tennis court in Blender, then exported it to URDF for use in gazebo.

^The red object is our robot

Gazebo world

/models/gazebo/tennis court/Tennis_Court.world