# omo\_r1mini 패키지 소개

## 1. ROS 패키지

**전체 구조**

![](/files/-MWws2IFM_fnSQYzArMc)

**bringup 패키지**

![](/files/-MWws8ZO4uk9fQf2Qqgc)

**teleop 패키지**

![](/files/-MWwtcpN0zNoT7IHqKgX)

**ar\_marker 패키지**

![](/files/-MWwtJAjxqWPjIpT_XOx)

**simple\_position\_controller 패키지**

![](/files/-MWwtoPBfs0e8eX7ihaA)

**gazebo 패키지**

![](/files/-MWwt34u-GZ47piIhHzD)

**slam 패키지**

![](/files/-MWwsWdtrFn9L3pM9VrS)

**navigation 패키지**

![](/files/-MWwsZyD0w35ed2UflQX)

**description 패키지**

![](/files/-MWwsbw00f8ZH3qfh_yT)

* description.launch

![](/files/-MThlDxDfegdwgW4gvxp)

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

![](/files/-MThlOUOkqM2DFWRaeUx)

* description.launch 실행 결과

![](/files/-MThlTlPHelr0SIRXUDp)


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# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://omorobot.gitbook.io/manual/product/omo-r1mini/ros/ros1-melodic/introduce-r1mini-pkg.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.