# omo\_r1mini 패키지 소개

## 1. ROS 패키지

**전체 구조**

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MWwppRRhj0JXDMp_cq-%2F-MWws2IFM_fnSQYzArMc%2Fimage.png?alt=media\&token=c33f8a3b-39e1-48fe-b5f9-430571cd8139)

**bringup 패키지**

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MWwppRRhj0JXDMp_cq-%2F-MWws8ZO4uk9fQf2Qqgc%2Fimage.png?alt=media\&token=2543fe50-51a0-4f3e-81bc-4c954cfc09b2)

**teleop 패키지**

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MWwppRRhj0JXDMp_cq-%2F-MWwtcpN0zNoT7IHqKgX%2Fimage.png?alt=media\&token=fb249080-0a76-4fc3-b9af-6dc36cb2258b)

**ar\_marker 패키지**

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MWwppRRhj0JXDMp_cq-%2F-MWwtJAjxqWPjIpT_XOx%2Fimage.png?alt=media\&token=cb8ee073-8331-4859-aebf-c6c08cf21ae8)

**simple\_position\_controller 패키지**

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MWwppRRhj0JXDMp_cq-%2F-MWwtoPBfs0e8eX7ihaA%2Fimage.png?alt=media\&token=27aedc54-2086-445a-8011-45fc32055152)

**gazebo 패키지**

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MWwppRRhj0JXDMp_cq-%2F-MWwt34u-GZ47piIhHzD%2Fimage.png?alt=media\&token=22abeb5d-7205-4c0e-b309-439e46b1948e)

**slam 패키지**

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MWwppRRhj0JXDMp_cq-%2F-MWwsWdtrFn9L3pM9VrS%2Fimage.png?alt=media\&token=a1c74c03-1a95-4b85-897d-83263514f7b2)

**navigation 패키지**

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MWwppRRhj0JXDMp_cq-%2F-MWwsZyD0w35ed2UflQX%2Fimage.png?alt=media\&token=990d7b43-6771-4068-adf6-91c07eb41d40)

**description 패키지**

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MWwppRRhj0JXDMp_cq-%2F-MWwsbw00f8ZH3qfh_yT%2Fimage.png?alt=media\&token=72315536-4ffc-42aa-accb-b2eb0ad3831c)

* description.launch

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MThiI0xwCy_UJgodPxq%2F-MThlDxDfegdwgW4gvxp%2Fimage.png?alt=media\&token=ad9bb593-8ed9-41a0-baa7-4f5d5fedeae4)

* description.launch 실행
  * roslaunch omo\_r1mini\_description description.launch rviz:=on

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MThiI0xwCy_UJgodPxq%2F-MThlOUOkqM2DFWRaeUx%2Fimage.png?alt=media\&token=a8df2e49-4453-4b18-afa5-2878368365ba)

* description.launch 실행 결과

![](https://491696592-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MK7gxD_6rkqAewni4tk%2F-MThiI0xwCy_UJgodPxq%2F-MThlTlPHelr0SIRXUDp%2Fimage.png?alt=media\&token=93888aea-9043-481e-9ec7-123ce2a55ab4)