Open Gazebo:
roslaunch vehicle_description gazebo.launch Open link/joint velocity controller:
roslaunch vehicle_description controller.launch Open (load) chassis_controller node:
roslaunch vehicle_motion_control motion_controller.launch
Publish velocity message:
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear:
x: 2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0"'/cmd_vel' publish command to control the 'linear.x' and 'linear.y' of the vehicle. The linear speed of each wheel would be controlled by the 'callback' function in 'subscriber'.
- The Wheel_3 and Wheel_4 joint coordinates displayed on Gazebo are a bit strange, outside of the wheel.