Gazebo_Projectile

This Repo has the file necessary to implement Projectile Motion in 3-D Gazebo Physics Environment using ROS Topics

Steps to Add the plugin to your model

Add the following line at the end of model.sdf

<plugin name="" filename="libprojectile_plugin.so"></plugin>

Steps to use the plugin

Step 1: Clone the Repository in a ROS Workspace and catkin_make

cd <your_workspace>/src
git clone https://github.com/gokulmk-12/Gazebo_Projectile.git
cd ../
catkin_make

Step 2: You can use any object model to test. I have used a simple cardboard box, and a launch file to spawn in Gazebo

roslaunch Gazebo_Projectile box.launch

Step 3: Publish the velocity values to the topic /model_move (geometry_msgs/Twist) (2-D)

rostopic pub /model_move geometry_msgs/Twist "linear:
  x: 5.0
  y: 0.0
  z: 3.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0

projectile.mp4

Step 4: Publish the velocity values to the topic /model_move (geometry_msgs/Twist) (3-D)

rostopic pub /model_move geometry_msgs/Twist "linear:
  x: 5.0
  y: 2.0
  z: 3.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0

projectile2.mp4