Prototype Flywheel Pendulum
- create directory catkin_ws/src/
- clone repo into it
- go to catkin_ws/ and run below command
rosdep install --from-paths src --ignore-src -r -y
- build (need to do it first time after clone, and any time you modify c++ files)
cd ~/catkin_ws
catkin build
- source (do it for each new terminal)
source build/setup.bash
- launch simulation
roslaunch pendulum sim.launch
- publish to motor directly
rostopic pub /flywheel_controller/command std_msgs/Float64 "data: 0.0"
- graph data
roslaunch pendulum plots.launch
manually add topics to graph. You can see available topics with following:
rostopic list
- delete and spawn new model
roslaunch pendulum respawn.launch
- quit fast
./gk