This ROS package provides a slice step up on the simple_robot model, by removing the differential drive controller, and replacing it with two velocity controllers for the two wheels. It provides a suitable template for students to test the knowledge of mobile robot kinematics, to replicate the differential drive controller.
Included in the package are:
- Package.xml and CMakeLists.txt files
- a xacro and gazebo file, enhanced slightly from the simple_robot package to include different colors for each wheel, in order to allow easier debugging from RVIZ. Additionally the appropriate velocity controllers are appied inside the gazebo file.
- a world file for gazebo with moveable walls.
- a config file for the velocity controllers
- a launch file for Gazebo and Rviz
- a config file for Rviz
To test the Package, start the launch file, see that no errors appear in the command window while starting Gazebo and then in a second terminal window, send a command to one of the velocity controllers with:
rostopic pub wheel_left_velocity_controller/command std_msgs/Float64 -- '0.5'
or
rostopic pub wheel_right_velocity_controller/command std_msgs/Float64 -- '0.5'