Simulate and drive a mobile robot in Gazebo and rviz. This package is used in chapter 10 and 11 of the series ROS 101 in my blog robodev.blog.
Clone this repo to a catkin workspace and do catkin build or catkin_make. To run it, open 2 terminals. In the first one, launch the file drive_robot.launch:
roslaunch ros_mobile_robot drive_robot.launch
Wait a few seconds for Gazebo to be fully loaded. In the second terminal, run the rqt_robot_steering package which provides a GUI to steer robots.
rosrun rqt_robot_steering rqt_robot_steering
Change the linear and angular velocities in the GUI to steer the robot:
