/Diesel-Go-Chase-It

Beta test for RoboND content

Primary LanguageC++

Diesel-Go-Chase-It

Sample Video of Performance

2Wheel

In addition to the 2 wheeled differential drive robot, a 4 wheeled robot based loosely off of the MSE6 from Star Wars is also included. The MSE6 uses acustom Ackermann Steering plugin that I developed since the skid steer plugin performance was poor in this application.

MSE6 MSE6

Not perfect, but I think it's close enough for my purposes: MSE6

The MSE6 mesh was created with FreeCad and exported as a Collada (.dae) file. For those with parametric modeling experience, its an easy way to add visual flair to your robots. See this tutorial for details/walkthrough.

Installation:

  1. run mkdir catkin_ws/src -p
  2. copy ball_chaser, ackermansteer and my_robot directories to catkin_ws/src/
  3. cd catkin_ws
  4. run catkin_make If you get an error run step 5, then catkin_make again.
  5. run source devel/setup.bash
  6. run roslaunch my_robot world.launch
  7. * To launch the 2 wheeled robot run:`roslaunch my_robot world.launch`
* To launch the MSE6 run: `roslaunch my_robot world.launch MSE6:=true`