Differential-Vehicle
Differential Drive URDF Simulation Project This project is made to give a glance of some simple packages of ROS like urdf,rviz, gazebo.As mentioned it is a diffrential drive robot project, this repository has simple urdf and skid steering drive gazebo plugin visualisation.
Features:
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It consists of a base body, four wheels and a camera.
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You can control the robot model in gazebo and rviz using rqt plugin robot-steering.
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The raw image coming from the camera in the robot can be visualized using rviz camera plugin.
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You can learn tf by visualizing it in rviz in the model, the rviz file has been configured that to give you a good experience of the working of a mobile robot.
Further things to be implemented:
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Addition of laser sensor and visualization of it's sensor messages.
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Implement Navigation and SLAM in the model and it's visualization in rviz maybe in another repository.
How to implement it:
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Clone the package to your workspace.
git clone https://github.com/jatinarora30/Differential-Vehicle-Visualization.git
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Run
catkin_make
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Using roslaunch command, run the following commad
roslaunch project_ws final1.launch
Demo:
ROS Developer Learning Course: